Bio-inspired optimization of kinematic models for multi-legged walking robots

Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability

“…The change of 1 and 2 can be obtained by (9). According to the characteristics of the terrain (size of obstacles), considering that parabolic foot trajectory has the characteristics of variable height, starting angle, and landing angle, when the terrain is relatively flat (Δh < T, T is the threshold), a parabolic tip trajectory can be used for improved moving velocity.…”

“…Lauron series hexapod robots have increased their legs from three to four DOF since the fourth generation, further increasing their workspace and flexibility and improving their walking and climbing abilities. In terms of control system, Lauron V also adopts a hierarchical control structure and integrates attitude control strategy and leg reflection strategy to cope with a rugged terrain [9][10][11]. Serial research has made Karlsruhe University accumulate a lot of experience in the development of sixlegged robots.…”

Research on coupling dynamics and coordinated control of a legged robot

“…As well known, robotics technology has developed into a promising industry, which has an extremely important and far-reaching impact on the national economy and people's production activities (Kravchenko, 2019). A multilegged walking robot is an example of unstructured environment domain applications (Buttner et al, 2016;Li et al, 2016;Migdalovici et al, 2018). Like many other mobile robots, a six-legged robot can be regarded as mobile manipulator systems (MMSs) because their base (the body of the robot in this text) is usually free or disturbed in some degrees of freedom (DOF) directions, especially when it jumps in the air.…”