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 …

This paper presents an estimator of external disturbances for legged robots, based on the
system's momentum. The estimator, along with a suitable motion planner for the trajectory of …

Recently developed quadruped robots have more efficient dynamic performance and
adaptation to environments than before. They have already been used in the building of …

Traditional trajectory-planning methods are unable to achieve time optimization, resulting in
slow response times to unexpected situations. To address this issue and improve the …

Structural integrity of seawater pipelines in nuclear power plants is a very important issue. In
accordance with the operating technical guidelines, the human operators directly enter the …

This paper proposes a novel legged locomotion principle for tracking the quadruped-robot
base spatial motion which can generate automatically the trotting and walking gaits without …

Compared with the traditional hydraulic humanoid robots, the WLR-II, a novel hydraulic
wheel-legged robot developed by using hose-less design, can significantly increase the …

This paper presents a method to generate a low-reaction trajectory for the swing leg of a
climbing-legged robot aiming for microgravity locomotion. The movement of any part of the …

Quadruped robots have increasingly been used in complex terrains where barriers and
gaps exist. In this paper, a four-legged robot with intelligent controllers is designed and …

Real-time gait trajectory planning is challenging for legged robots walking on unknown
terrain. In this paper, to realize a more efficient and faster motion control of a quadrupedal …