This article presents the Origaker, a novel multi-mimicry quadruped robot. Based on a single-
loop spatial metamorphic mechanism, the Origaker is able to transform between different …

We studied the effect of the control of an active spine versus a fixed spine, on a quadruped
robot running in bound gait. Active spine supported actuation led to faster locomotion, with …

Bionic multi-legged robots with flexible bodies embody human ingenuity in imitating,
learning, and exploring the natural world. In contrast to rigid-body robots, these robots with …

Within the consistent daily rhythm of human life, intervertebral discs endure a variety of
complex loads beyond the influences of gravity and muscle forces, leading to significant …

Improving the mobility of robots is an important goal for many real-world applications and
implementing an animal-like spine structure in a quadruped robot is a promising approach …

A reliable concept for steering was realized by integrating a spine-like structure with one
DoF into a quadruped robot-Cheetah-cub-S. We increased maneuverability dramatically …

The biological hypothesis of spinal engine states that locomotion is mainly achieved by the
spine, while the legs may serve as assistance. Inspired by this hypothesis, a compliant …

Walking quadruped robots face challenges in positioning their feet and lifting their legs
during gait cycles over uneven terrain. The robot Laika is under development as a …

We compare the effects of linear and piecewise linear compliant spines on locomotion
performance of quadruped robots in terms of energy efficiency and locomotion speed …

Modern legged robot morphologies assign most of their actuated degrees of freedom
(DoF's) to the limbs and designs continue to converge to twelve DoF quadrupeds with three …