Explanipedia

From Imitation to Intelligence: Current Trends and Future Directions in Legged Bio-Inspired Robotics Open

Jiaming Chen · 2025

Legged bio-inspired robots have emerged as a promising solution for locomotion in unstructured and complex environments. By drawing inspiration from animal morphology and biomechanics, researchers have developed robotic systems capable of …

Recent Advances in Legged Robot Locomotion and Control Open

Leonard Jin · 2025

In recent years, legged robots have emerged as powerful mobile robots capable of navigating complex and uncontrolled environments where wheeled robots often fail. This review provides a comprehensive overview of recent studies and advances…

Improving the energy efficiency of quadruped robots on uneven terrains through bio-inspired elastic design Open

Qirui Huang · 2025

This study demonstrates that bio-inspired elastic leg design significantly enhances the energy efficiency of quadruped robots on uneven terrains. Through a quadrupedal spring-mass model and tunable-stiffness prototype (1.2–5.6 kN/m), we va…

GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry Open

Noh, Chiyun, Jung, Sangwoo, Kim Hanjun, Hu Yafei, Herlant, Laura , et al. · 2025

Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. In such scenarios, accurate odometry estimation is a prelimi…

GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry Open

Noh, Chiyun, Jung, Sangwoo, Kim Hanjun, Hu Yafei, Herlant, Laura , et al. · 2025

Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. In such scenarios, accurate odometry estimation is a prelimi…

Implementation of Path-Following Control of Lizard-Inspired Single-Actuated Robot Utilizing Inverse Kinematics Open

Shunsuke Nansai, Norihiro Kamamichi, Akihiro Naganawa, Shunsuke Nansai, Norihiro Kamamichi , et al. · 2025

The purpose of this paper is to implement a path-following control system based on the kinematics of the Lizard-Inspired Single-Actuated robot (LISA). LISA is a new type of robot that mimics the quadrupedal walking morphology of lizards wi…

GiAnt: A Bio-Inspired Hexapod for Adaptive Terrain Navigation and Object Detection Open

Aasfee Mosharraf Bhuiyan, Md. Luban Mehda, Md. Thawhid Hasan Puspo, Jubayer Amin Pritom, Aasfee Mosharraf Bhuiyan , et al. · 2025

This paper presents the design, development and testing of GiAnt, an affordable hexapod which is inspired by the efficient motions of ants. The decision to model GiAnt after ants rather than other insects is rooted deep inside ant's natura…

Design, Construction and Performance Test of a Rough Terrain Beetle Robot Open

M. Jawadul Alam, Md. Shahidul Islam, M. Jawadul Alam, Md. Shahidul Islam · 2025

Nowadays, robots are moved not only over smooth surfaces with typical wheeled mechanisms but also for verities of applications a robot needs to travel over rough surfaces. It is difficult to move over rough surface using wheeled and tracke…

Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control Open

O'Neill, Cormac, Terrones, Jasmine, Asada H. Harry · 2025

Controlling robots that dynamically engage in contact with their environment is a pressing challenge. Whether a legged robot making-and-breaking contact with a floor, or a manipulator grasping objects, contact is everywhere. Unfortunately,…

Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control Open

O'Neill, Cormac, Terrones, Jasmine, Asada H. Harry · 2025

Controlling robots that dynamically engage in contact with their environment is a pressing challenge. Whether a legged robot making-and-breaking contact with a floor, or a manipulator grasping objects, contact is everywhere. Unfortunately,…

Leveraging Aerial Transformation for Enhanced Air–Ground Robotic Mobility Open

Mandralis, Ioannis M. · 2025

Ground-aerial robots can extend endurance, versatility, and robustness by combining wheeled motion with flight, yet many flying-rolling robot designs add actuators that increase weight and reduce efficiency. Morphobots mitigate this by usi…

LunarLeaper—A mission concept to explore the lunar subsurface with a small-scale legged robot Open

Hendrik Kolvenbach, Anna Mittelholz, Simon C Stähler, Philip Arm, Valentin T. Bickel , et al. · 2025

Pedipulation in Quadruped Robots: Toward AutonomousModel-Based Legged Manipulation Open

Tabita, Marco, Recchiuto, Carmine Tommaso, Simetti, Enrico, Sgorbissa, Antonio · 2025

Quadruped robots are increasingly used for exploration, inspection, and monitoring in environments where wheeled or tracked vehicles are inadequate. While locomotion has been extensively studied, the use of legs not only to achieve locomot…

Pedipulation in Quadruped Robots: Toward AutonomousModel-Based Legged Manipulation Open

Tabita, Marco, Recchiuto, Carmine Tommaso, Simetti, Enrico, Sgorbissa, Antonio · 2025

Quadruped robots are increasingly used for exploration, inspection, and monitoring in environments where wheeled or tracked vehicles are inadequate. While locomotion has been extensively studied, the use of legs not only to achieve locomot…

Simulación del manipulador PSM y herramientas del robot da Vinci usando el proyecto “SimRobots” Open

Alberto Herreros · 2025

Durante varios años se ha desarrollado el proyecto “SimRobots”, colaboración entre las librerías “SinScape MultiBody” de Simulink y “Robotic System ToolBox” de Matlab. En este artículo se ha desarrollado herramientas para simular los manip…

Cooperative skating motion control for a quad-wheel-legged robot Open

Guangrong Chen, Qingyu Meng, Yuxiang Lin · 2025

Wheeled-legged robots for multi-terrain locomotion in plateau environments Open

Kang Wang, Jinmian Hou, Shichao Zhou, Dongping Wei, Wei Xu , et al. · 2025

Wheeled-legged robots integrate the mobility efficiency of wheeled platforms with the terrain adaptability of legged robots, making them ideal for complex, unstructured environments. However, balancing high payload capacity with agile mult…

Variable-width Legged Robot: Single-DoF Overconstrained Morphing Trunk Mechanism and Morphology-Adaptive Legged Locomotion Open

Yinghui Li, Hao Chen, Hang Fu, Weizhong Guo · 2025

Animals can adapt to their surroundings by modifying their trunk morphology, whereas legged robots currently utilize rigid trunks. This study introduces a single-degree-of-freedom (DoF), six-revolute (6R) morphing trunk mechanism designed …

Design and Dynamic Performance Evaluation of a Novel 6W4L Wheel-Legged Robot Open

Weiwei Hu, Ruiqin Li, Wenxiao Guo, Fengping Ning, Lei Zhang · 2025

To improve the mobility of mobile robots in complex terrain environments, a novel 2-UPS&PRPU parallel mechanism is proposed, for which the parallel mechanism branched-chain decomposition and synthesis method is adopted. Based on the struct…

4SWLR: A Switched System and Skid Steer Integrated Whole-Body Control Framework for Wheeled-Legged Robots Open

Mingfan Xu, Ziyi Yang, Chuyan Xu, Jing Zhao, Yechen Qin · 2025

Bionic Energy-Efficient Inverse Kinematics Method Based on Neural Networks for the Legs of Hydraulic Legged Robots Open

Jinbo She, Xiang Feng, Xu Bao, L. H. Chen, Yuan Wang , et al. · 2025

Hydraulic legged robots, with advantages such as high load capacity and power density, have become a strategic driving force in advancing intelligent mobile platform technologies. However, their high energy consumption significantly limits…

The process of robot crossing obstacle. Open