Motion control is crucial for multilegged robot locomotion and task completion. This study
aims to address the fundamental challenges of inadequate foot tracking and weak leg …

Multilegged robots have the potential to serve as assistants for humans, replacing them in
performing dangerous, dull, or unclean tasks. However, they are still far from being …

Virtual model control is a motion control framework that uses virtual components to create
virtual forces/torques, which are actually generated by joint actuators when the virtual …

The next generation of autonomous-legged robots will herald a new era in the fields of
manufacturing, healthcare, terrain exploration, and surveillance. We can expect significant …

This paper investigates dynamic balance optimization and control of quadruped robots with
compliant/flexible joints under perturbing external forces. First, we formulate a constrained …

This article presents an intuitive approach based on virtual model control for robust
quadrupedal trotting. The controller consists of two main modules: support phase virtual …

Quadruped robots have excellent application prospects whereas the locomotion control of
them on rough terrains is still a challenging problem, especially for those of large scales …

Legged robots demand to keep the balance under required durations when performing
standing and locomotion. It may be a challenge for legged robots to maintain balance during …

In order to improve the motion stability and environmental adaptability of quadruped robot in
trotting gait, a motion control method based on swing leg gait planning is proposed in this …

Reaction force-aware control is essential for legged climbing robots to ensure a safer and
more stable operation. This becomes particularly crucial when navigating steep terrain or …