Tactile sensing is a key sensor modality for robots interacting with their surroundings. These
sensors provide a rich and diverse set of data signals that contain detailed information …

This letter introduces Minitaur, a dynamically running and lea** quadruped, which
represents a novel class of direct-drive (DD) legged robots. We present a methodology that …

We report on the design and development of X-RHex, a hexapedal robot with a single
actuator per leg, intended for real-world mobile applications. X-RHex is an updated version …

Animals have evolved behavioral and morphological traits that allow them to respond to
environmental challenges. However, these traits may have long-term consequences that …

For mobile robots, the essential units of actuation, computation, and sensing must be
designed to fit within the body of the robot. Additional capabilities will largely depend upon a …

An originally chaotic system can be controlled into various periodic dynamics. When it is
implemented into a legged robot's locomotion control as a central pattern generator (CPG) …

A major challenge in robotic design is enabling robots to immediately adapt to unexpected
physical damage. However, conventional robots require considerable time (more than …

This paper documents near-autonomous negotiation of synthetic and natural climbing
terrain by a rugged legged robot, achieved through sequential composition of appropriate …

This paper reports on an autonomous ascent by a legged robotic platform in outdoor
forested terrain. Two controllers govern the integration of online inertial measurement unit …

In order to move, animals in nature usually use a rhythmic movement which is highly stable
and adaptable. Movement controlled by the central pattern generator (CPG) is a …