There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …

Legged robotic technologies have moved out of the lab to operate in real environments,
characterized by a wide variety of unpredictable irregularities and disturbances, all this in …

Contact mechanics plays an important role in the design, performance analysis, simulation,
and control of legged robots. The Hunt–Crossley model and the Coulomb friction model are …

Legged robots exhibit superior adaptability to complex extraterrestrial environments
compared to wheeled mobile robots. However, legged robots employed in planetary …

This paper presents the realization of the worldwide first automated walking excavator
chassis. To this end, the authors build a new generation of high-performance hydraulic …

Heavy-duty legged robots have been regarded as one of the important developments in the
field of legged robots because of their high payload-total mass ratio, terrain adaptability, and …

The adaptability of hexapods for various locomotion tasks, especially in rescue and
exploration missions, drives their application. Unlike controlled environments, these robots …

High-precision and low-overshoot force control are important to guarantee the material
removal rate and surface quality of robot grinding. However, traditional force control …

Electrohydrostatic actuator (EHA) is a type of power-by-wire actuator that is widely
implemented in the aerospace industry for flight control, landing gears, thrust reversers …

Hexapod robots are well suited for disaster rescuing tasks due to their stability and load
capability. However, most current hexapod robots still rely on static gaits that largely limit …