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Journal articles on the topic 'Quadruped mobile robot'

Author: Grafiati

Published: 4 June 2025

Last updated: 15 July 2025

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Naresh, B., and Manjusha K. "Implementation of Bluetooth-Controlled Quadruped Robot with the Live Video Stream." Journal of Optoelectronics and Communication 4, no. 3 (2022): 1–12. https://doi.org/10.5281/zenodo.7472237.

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<em>Nowadays we have different types of moving robots such as wheeled and tracked, which are facing difficulties in moving through rough-terrain regions. For this purpose, quadruped robots were designed. These quadruped robots are the four-legged robots inspired by biological four-legged animal movement. These movements are classified as gaits. This project is to design a four-legged robot that moves according to the instructions that we provide from our mobile. This controlling process is done using Bluetooth technology by connecting the robot with a mobile. In this project, the robot was designed for the application of live video streaming in the area where the robot moves. The streaming can be done on a mobile or a PC. The major area of application of this type of robot is in the military and space.</em>

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Makita, Shinobu, and Junji Furusho. "Development of Horse-type Quadruped Robot -Report 1, Development of Mechanism and Control System of Quadruped Robot PONY-." Journal of Robotics and Mechatronics 15, no. 4 (2003): 442–50. http://dx.doi.org/10.20965/jrm.2003.p0442.

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When mammals walk or run, they use energy stored in their tendons during limb movement. We focused on the trot of a horse, realized in a mobile quadruped robot. Changes in the angle of the equine fetlock during walking or running stretch tendons, storing energy. We propose realizing horse-like gaits in a mobile quadruped robot and designed and fabricated the mobile quadruped robot PONY.

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Yamaguchi, Tomohiro, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi. "Obstacle Avoidance for Quadruped Robots Using a Neural Network." Journal of Advanced Computational Intelligence and Intelligent Informatics 7, no. 2 (2003): 115–23. http://dx.doi.org/10.20965/jaciii.2003.p0115.

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Legged mobile robots, which differ from wheeled and crawler, need not avoid all obstacles by altering the path in the obstacle avoidance task. Because, legged mobile robots can get over or stride some obstacles, depending on the obstacle configuration and the current state of the robot. Legged mobile robots muse have suitable motion for each leg. We propose body motion control of a quadruped robot using a neural network (NN) for an obstacle avoidance task. Each leg motion is calculated by robot kinematics using body motion from the NN. NN design parameters are tuned off-line by a genetic algorithm (GA). Effectiveness of the present method is proved through an experiment.

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He, JingYe, JunPeng Shao, GuiTao Sun, and Xuan Shao. "Survey of Quadruped Robots Coping Strategies in Complex Situations." Electronics 8, no. 12 (2019): 1414. http://dx.doi.org/10.3390/electronics8121414.

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As an important branch of mobile robots, quadruped robots have high flexibility, high adaptability, and high dynamics, which provide excellent maneuverability and environmental adaptability. In the past ten years, researchers have done a lot of research on the ability of the quadruped robot to cope with the complex environment and published many results in order to make the working environment of the quadruped robot closer to reality. This paper collected these research results and divided these literatures into three categories according to different situations: crossing challenging terrain, walking on slope, and coping with interference, respectively, introducing representative methods. The purpose of this review is to summarize and analyze the previous research results and provide guidance for future research on quadruped robots in complex situations.

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Muhammad, Aziz Muslim, Rusli Mochammad, Rafif Zufaryansyah Achnafian, and S. K. K. Ibrahim B. "Development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics." Bulletin of Electrical Engineering and Informatics 8, no. 4 (2019): 1224–31. https://doi.org/10.11591/eei.v8i4.1623.

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As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.

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Chen, Guangrong, and Liang Hong. "Research on Environment Perception System of Quadruped Robots Based on LiDAR and Vision." Drones 7, no. 5 (2023): 329. http://dx.doi.org/10.3390/drones7050329.

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Due to the high stability and adaptability, quadruped robots are currently highly discussed in the robotics field. To overcome the complicated environment indoor or outdoor, the quadruped robots should be configured with an environment perception system, which mostly contain LiDAR or a vision sensor, and SLAM (Simultaneous Localization and Mapping) is deployed. In this paper, the comparative experimental platforms, including a quadruped robot and a vehicle, with LiDAR and a vision sensor are established firstly. Secondly, a single sensor SLAM, including LiDAR SLAM and Visual SLAM, are investigated separately to highlight their advantages and disadvantages. Then, multi-sensor SLAM based on LiDAR and vision are addressed to improve the environmental perception performance. Thirdly, the improved YOLOv5 (You Only Look Once) by adding ASFF (adaptive spatial feature fusion) is employed to do the image processing of gesture recognition and achieve the human–machine interaction. Finally, the challenge of environment perception system for mobile robot based on comparison between wheeled and legged robots is discussed. This research provides an insight for the environment perception of legged robots.

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Gao, Bingwei, Yongkang Wang, Wenlong Han, and Shilong Xue. "Development of Lower Computer for Hydraulically Actuated Quadruped Bionic Robots Based on DSP." Electronics 12, no. 18 (2023): 3802. http://dx.doi.org/10.3390/electronics12183802.

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Background: Hydraulic quadruped robots have broad application prospects. Control system design is the core content of robot design. However, the micro-controllers used in the past have shortcomings such as long sampling period and simple algorithm. Methods: An electric control system of the layered, distributed structure for hydraulically actuated quadruped robots is designed considering a dog as a bionic model. In order to improve the response time and the steady precision of the system at the same time, a Fuzzy–PID compound control algorithm is put forward in this paper. The hardware and software of the control system are designed. Results: The lower computer’s control system for hydraulically actuated quadruped robots is developed using TMS320F28335 in series of DSP2000 as the core processor. Outside control circuit expands some external chips, such as AD7606, AD5754R, and PCA82C250, and a peripheral interface circuit is designed. Taking full advantage of the efficient processing power of the chip and the rich on-chip resources, the hardware circuit is simpler and reliable, and the software is also easy to implement. It is verified that the control system is rational and effective using experiments. Conclusions: The experimental results show that the control system designed in this paper is reasonable and can effectively control the joints of the quadruped robot. It has strong scalability and can meet the basic requirements of the autonomous mobile robot control system.

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Xin, Guiyang, Fanlian Zeng, and Kairong Qin. "Loco-Manipulation Control for Arm-Mounted Quadruped Robots: Dynamic and Kinematic Strategies." Machines 10, no. 8 (2022): 719. http://dx.doi.org/10.3390/machines10080719.

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The studies on quadruped robots equipped with arms are still rare at the moment. The interaction between the arm and the quadrupedal platform needs to be handled by whole-body controllers. This paper presents an optimization-based dynamic whole-body controller to solve the problem of when the robot stands still for manipulation. In order to reduce the strong interaction when the robot is trotting, we keep using the whole-body controller to handle locomotion control and resort to joint PD controllers for the arm’s manipulation coupled with the mobile base on the kinematic level. Simulation results validate the expected locomotion and manipulation functionalities in both manipulation mode and loco-manipulation mode. The proposed control strategies are able to use the redundancy to perform multiple tasks in a dynamic system as such with 24 degrees of freedom.

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Ouyang, Wenjuan, Haozhen Chi, Leifeng Lu, Chao Wang, and Qinyuan Ren. "Motion Control of a Hybrid Quadruped-Quadrotor Robot." Actuators 13, no. 6 (2024): 215. http://dx.doi.org/10.3390/act13060215.

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Multimodal motion capability is an emerging topic in the robotics field, and this paper presents a hybrid robot system maneuvering in both terrestrial and aerial environments. Firstly, a micro quadruped–quadrotor robot with onboard sensing and computing is developed. This robot incorporates both the high mobility of unmanned aerial vehicles and the long endurance of mobile robots on the ground. A coordinated motion control scheme is then exploited for adaptive terrestrial–aerial motion transition. In this scheme, a bio-inspired terrestrial locomotion controller is proposed to generate various quadruped locomotions, and a model-based aerial locomotion controller is proposed to generate various quadrotor configurations. Then, an unified motion controller for the two subsystems which dynamically adjusts crawling and flying motion in a complicated environment is presented. Consequently, several practical trials are conducted to demonstrate the adaptability and the robustness of the proposed system.

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Chan, Yao‐Cheng, and Elliott Hauser. "Understanding Reactions in Human‐Robot Encounters with Autonomous Quadruped Robots." Proceedings of the Association for Information Science and Technology 60, no. 1 (2023): 86–97. http://dx.doi.org/10.1002/pra2.771.

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ABSTRACTIncidental human‐robot encounters are becoming more common as robotic technologies proliferate, but there is little scientific understanding of human experience and reactions during these encounters. To contribute towards addressing this gap, this study applies Grounded Theory methodologies to study human reactions in Human‐Robot Encounters with an autonomous quadruped robot. Based upon observation and interviews, we find that participants' reactions to the robot can be explained by their attitudes of familiarity, certainty, and confidence during their encounter and by their understanding of the robot's capabilities and role. Participants differed in how and whether they utilized opportunities to resolve their unfamiliarity, uncertainty, or lack of confidence, shedding light on the dynamics and experiential characteristics of Human‐Robot Encounters. We provide an emerging theory that can be used to unravel the complexity of the field as well as assist hypothesis generation in future research in designing and deploying mobile autonomous service robots.

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Ren, Dongyi, and Yushu Cui. "Optimal Trajectory Planning Control for Quadruped Robot." Journal of Physics: Conference Series 2587, no. 1 (2023): 012067. http://dx.doi.org/10.1088/1742-6596/2587/1/012067.

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Abstract The posture information of the quadruped robot changes in real-time during its movement, and the trajectory planning method in view of trunk posture feedback is proposed. The kinematics equations of the mobile robot are built. The transformation matrix between the robot trunk posture and the foot-leg joint displacement is obtained. The feedback information of the body posture is integrated when planning motion trajectory. The motion trajectory of the robot according to the feedback information of the trunk posture is planned. The trajectories of the robot in the forward, lateral, and vertical directions are planned, respectively. The effectiveness and rationality of the optimal trajectory planning strategy are tested by the quadruped robot simulation platform.

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Lei, Jiang, and Su Bo. "Research and Implementation of Small Mobile Robot Technology." Applied Mechanics and Materials 602-605 (August 2014): 1047–51. http://dx.doi.org/10.4028/www.scientific.net/amm.602-605.1047.

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Due to mission requirements in the field of deep space exploration, emergency relief, intelligent mobile etc., based on the cross research with vehicle terramechanics, vehicle engineering and mobile robotics, this paper carried out researches of lunar rover, lightly wheeled unmanned ground platform, quadruped mobile platform etc., and proposals application prospect in future.

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Go, Eutteum, Jun Hyoung Lee, So Yeong Kim, Jong Sup Lee, Hyung Hwan Kim, and Joong Yeon Lim. "Stakeholder Perspectives on Safety Issues in Collaborative Mobile Robots: A Case Study of Quadruped Robot Applications in a Smart Factory." Applied Sciences 14, no. 22 (2024): 10232. http://dx.doi.org/10.3390/app142210232.

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With the development of Industry 4.0, collaborative mobile robots are becoming increasingly prevalent in industrial settings, raising important safety considerations in human–robot interaction environments. This study examines the safety issues in collaborative mobile robotics through a case study of a smart factory utilizing quadruped robots. This research aims to contribute to the development of safety management strategies by identifying potential risk factors and analyzing the differences in risk perception among stakeholders. A survey was conducted among 93 operators in the factory to identify the main risk factors, followed by a Delphi study with four groups of experts: robot operators, safety management experts, robot developers, and academic experts. The Kruskal–Wallis and Mann–Whitney U tests were used to analyze the statistical significance of differences in perception between the groups. The results showed that collision and deviation from the path were the most concerning risk factors. Significant differences were found in the perceptions of several hazards between expert groups, with academic experts rating most hazards highly while robot developers rated them relatively low. The findings highlight how background knowledge and experience influence risk perception in collaborative robotics. These varying perspectives should be considered when developing safety management strategies for mobile robots in industrial settings, suggesting the importance of multi-stakeholder collaboration and targeted educational programs.

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Zhang, Yaohui, Yugang Song, Fanggang Lu, et al. "Design and Experiment of Greenhouse Self-Balancing Mobile Robot Based on PR Joint Sensor." Agriculture 13, no. 10 (2023): 2040. http://dx.doi.org/10.3390/agriculture13102040.

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To avoid issues such as the greenhouse working robot’s inability to perform normal tasks or reduced working accuracy due to the influence of uneven ground, this study designed a set of greenhouse self-balancing mobile robots. The self-balancing mobile robot system designed in this study uses a quadruped mobile robot as a carrier, equipped with a three-degrees-of-freedom wheel-leg structure and is complemented with a posture control algorithm. The algorithm calculates the adjustment of each leg based on the vehicle’s tilt angle and wheel-ground pressure, achieving control over the robot’s posture angle, the center of gravity height, wheel-ground contact force, and other functions. To address the issue of over-constrained (weak legs) posture adjustment during mobile robot fieldwork, a flexible joint sensor based on the PR structure has been designed and developed. After field testing, it was verified that the greenhouse self-balancing mobile robot proposed in this study can adapt well to field environments, such as climbing hills, overcoming obstacles, crossing furrows, and so on. The response speed of the flexible joint sensor can meet the requirements of self-balancing while effectively solving the problem of weak legs.

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Li, Haiyuan, Haoyu Wang, Linlin Cui, Jiake Li, Qi Wei, and Jiqiang Xia. "Design and Experiments of a Compact Self-Assembling Mobile Modular Robot with Joint Actuation and Onboard Visual-Based Perception." Applied Sciences 12, no. 6 (2022): 3050. http://dx.doi.org/10.3390/app12063050.

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Modular robots have the advantage of self-assembling into a large and complex structure to travel through territories beyond an individual robot’s capacity. A swarm of mobile robots is combined through mechanical interconnection and joint actuation to achieve a linked or articular configuration. In this paper, to enhance the perception, actuation and docking capacity of modular robots, a parallel mechanism-based docking system and onboard visual perception system are proposed in the design of a novel compact self-assembling mobile modular robot (SMMRob). Each module is self-contained, with a sensing or joint function. The robot modules can dock with each other based on relative positioning, which employs the visual perception of passive markers or active infrared signals in different localizations. Performance experiments were conducted to evaluate the robot module. Docking experiments were performed, along with an analysis of the success and failure results. The self-assembly of snake-like and quadruped robots was achieved in response to different environments, including an obstacle, gap or stair, and experiments were performed on self-assembly into a snake-like structure.

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Lee, C. Y., M. H. A. Sharif, S. Vinayagan, W. A. F. W. Othman, S. S. N. Alhady, and A. A. A. Wahab. "Design and development of a quadruped shuffling mobile robot." Journal of Physics: Conference Series 1969, no. 1 (2021): 012012. http://dx.doi.org/10.1088/1742-6596/1969/1/012012.

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AKIYAMA, Kimiya, and Yoshio YAMAMOTO. "206102 Improving Visual Recognition Capability for Quadruped Mobile Robot." Proceedings of Conference of Kanto Branch 2011.17 (2011): 167–68. http://dx.doi.org/10.1299/jsmekanto.2011.17.167.

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SHIMIZU, Takuya, and Yoshio YAMAMOTO. "1716 Sensor-based walking of a quadruped mobile robot." Proceedings of Conference of Kanto Branch 2012.18 (2012): 497–98. http://dx.doi.org/10.1299/jsmekanto.2012.18.497.

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Wu, Hongbo, Meili Song, Shouqiang Zhou, Haonan Ouyang, and Zheng Cheng. "Flexible control of quadruped robot joints based on external force estimation." Journal of Physics: Conference Series 2926, no. 1 (2024): 012008. https://doi.org/10.1088/1742-6596/2926/1/012008.

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Abstract Aiming at the requirements of quadruped robots for mobile flexibility and stability, a quadruped robot single-leg flexibility control strategy based on the estimation of external force is carried out to realize the high-performance dynamic interaction of the robot’s position and force during the movement process. Firstly, the torque of the motor is modeled into a simpler form. The robot single-leg dynamics model is established, and the established dynamics model and current feedback value are used to estimate the change of the robot joint force during the action of the external force; finally, based on the estimated robot joint torque, the position-based impedance control is designed to make the robot foot end in flexible contact with the environment, and at the same time to ensure the accuracy of the robot foot end trajectory tracking. Simulation is carried out by Adams-Matlab/Simulink to verify the correctness of the theoretical model. The foot-end trajectory tracking experiments on a single leg going up a staircase are carried out to verify the validity of the single-leg supple-control method based on the estimation of the external force, which is widely applicable compared with the traditional active supple-control method because it does not require additional sensors, is inexpensive, and does not reduce the rigidity of the robot itself.

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Guo, Fei, Shoukun Wang, Junzheng Wang, and Huan Yu. "Kinematics-searched framework for quadruped traversal in a parallel robot." Industrial Robot: the international journal of robotics research and application 47, no. 2 (2019): 267–79. http://dx.doi.org/10.1108/ir-05-2019-0098.

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Purpose In this research, the authors established a hierarchical motion planner for quadruped locomotion, which enables a parallel wheel-quadruped robot, the “BIT-NAZA” robot, to traverse rough three-dimensional (3-D) terrain. Design/methodology/approach Presented is a novel wheel-quadruped mobile robot with parallel driving mechanisms and based on the Stewart six degrees of freedom (6-DOF) platform. The task for traversing rough terrain is decomposed into two prospects: one is the configuration selection in terms of a local foothold cost map, in which the kinematic feasibility of parallel mechanism and terrain features are satisfied in heuristic search planning, and the other one is a whole-body controller to complete smooth and continuous motion transitions. Findings A fan-shaped foot search region focuses on footholds with a strong possibility of becoming foot placement, simplifying computation complexity. A receding horizon avoids kinematic deadlock during the search process and improves robot adaptation. Research limitations/implications Both simulation and experimental results validated the proposed scenario available and appropriate for quadruped locomotion to traverse challenging 3-D terrains. Originality/value This paper analyzes kinematic workspace for a parallel robot with 6-DOF Stewart mechanism on both body and foot. A fan-shaped foot search region enhances computation efficiency. Receding horizon broadens the preview search to decrease the possibility of deadlock minima resulting from terrain variation.

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Chen, Qiuxuan, Chong Li, and Xinyu Hao. "A micro quadruped crawling robot manufactured from PLA material." Vibroengineering Procedia 53 (November 27, 2023): 91–96. http://dx.doi.org/10.21595/vp.2023.23694.

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In order to meet the requirement of the movement flexibility of crawling robot, a kind of crawling robot imitating spider gait manufactured from polylactic acid (PLA)material was proposed. The motion mechanism of the robot is analyzed by gait decomposition method. Based on the Arduino platform, the control system of bionic spider gait crawling robot is developed. The mobile App software and Bluetooth module are used to realize the wireless control of the robot and the motion performance test. The experimental results show that when the steering angle is 30°, the average moving speed of the spider gait crawling robot is 4.5 mm/s. The movement speed of each leg of the crawling robot increases non-linearly with the increase of steering gear angle. And with the stride time changes, the crawling speed of the robot changes steadily. Besides, the turning angle of the robot increases with the increase of the steering angle of the steering gear. The results lay a foundation for improving the overall performance of spider gait mimicking crawling robot.

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Ho, Thanhtam, and Sangyoon Lee. "A fast mesoscale quadruped robot using piezocomposite actuators." Robotica 31, no. 1 (2012): 89–98. http://dx.doi.org/10.1017/s0263574712000112.

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SUMMARYThis paper introduces the design, analysis, and experimental results of a fast mesoscale (12 cm length) quadruped mobile robot that employs unconventional actuators. Four legs of the robot are actuated by two pieces of piezocomposite actuator named LIPCA, which enables the robot to achieve the bounding gait with only one degree of freedom per leg. The forward locomotion is obtained by a creative idea in the design and the speed can be controlled by changing the frequency of actuators. The mechanism of power transfer has been improved in order to use the actuation power more efficiently. Two small RC-servo motors are added to control the locomotion direction. In addition, a small power supply and control circuit is developed that is fit for the robot. Our experiments show that the robot can locomote as fast as about two times its body length per second with the circuit board and a battery installed. The robot is also able to change the heading direction in a controlled way and is capable of continuous operation for 35 min.

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Jin, Ruoshui, Yi Luo, and Jun Zhao. "Indoor Quadruped Robot Navigation Algorithm Based on ORB-SLAM." International Journal of Computer Science and Information Technology 2, no. 3 (2024): 80–88. http://dx.doi.org/10.62051/ijcsit.v2n3.09.

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In recent years, the development of artificial intelligence, big data, and the Internet of Things technologies has revealed unprecedented potential and value in mobile robots across various sectors of automation and intelligence. Among these, quadruped robots have shown unique applications in the domain of indoor security and inspection, as they can navigate multi-storey buildings by ascending and descending stairs. To enhance the stability of visual navigation in indoor inspection environments for quadruped robots, this paper builds on the ORB-SLAM framework. It introduces the AGC algorithm to address the issue of reduced feature point extraction during night patrols, thereby increasing the number of feature points extracted. Additionally, to tackle the problem of high oscillation intensity during the movement of quadruped robots, the EKF algorithm has been incorporated for sensor fusion with IMU, enhancing the robustness of visual navigation. This has been validated through physical experiments.

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Xiong, Wang. "STRUCTURAL DESIGH AND MOTION ANALYSIS OF UNIVERSAL MOBILE QUADRUPED ROBOT." International Journal on Smart Sensing and Intelligent Systems 9, no. 3 (2016): 1305–22. http://dx.doi.org/10.21307/ijssis-2017-919.

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Nasr, Mohammad, Nihar Masurkar, Pouria Meshkizadeh, and Ehsan Dehghan-Niri. "Guided by Hearing: Robotic Motion Planning for Precision in Gas Leakage Localization." Materials Evaluation 83, no. 4 (2025): 51–61. https://doi.org/10.32548/2025.me-04491.

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This research proposes a motion planning framework for a robot equipped with a bioinspired hearing system to enhance its sound source localization, specifically for gas leak detection. Similar to how animals use movements, such as changing positions or rotating their ears, to precisely localize a sound source, this framework enables the robot to improve its estimation of both direction and distance through strategic motion. The proposed method uses the time difference of arrival (TDOA) between two wideband optical microphones, obtained through this motion, to accurately estimate the direction and distance of a sound source. We first introduce the underlying concepts and validate the approach using experimental data collected with a collaborative robotic arm. We then demonstrate the implementation of the method on a quadruped robot. The results show that the method can be effectively deployed on mobile robots, achieving directional and distance accuracy for gas leak localization.

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Roslee, H. H., J. C. Tew, M. A. U. Ismail, et al. "Development of Theo Jansen inspired all-terrain quadruped mini mobile robot." Journal of Physics: Conference Series 1969, no. 1 (2021): 012009. http://dx.doi.org/10.1088/1742-6596/1969/1/012009.

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Fujita, Toyomi, and Fumiya Sato. "Development of Shape-Variable Hand Unit for Quadruped Tracked Mobile Robot." International Journal of Mechanical Engineering and Robotics Research 6, no. 6 (2017): 488–94. http://dx.doi.org/10.18178/ijmerr.6.6.488-494.

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Mahboubi, S., M. M. S. Fakhrabadi, and A. Ghanbari. "Design and implementation of a novel hybrid quadruped spherical mobile robot." Robotics and Autonomous Systems 61, no. 2 (2013): 184–94. http://dx.doi.org/10.1016/j.robot.2012.09.026.

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Saudabayev, Artur, Farabi Kungozhin, Damir Nurseitov, and Huseyin Atakan Varol. "Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor." Journal of Sensors 2015 (2015): 1–14. http://dx.doi.org/10.1155/2015/425732.

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The performance of a mobile robot can be improved by utilizing different locomotion modes in various terrain conditions. This creates the necessity of having a supervisory controller capable of recognizing different terrain types and changing the locomotion mode of the robot accordingly. This work focuses on the locomotion strategy selection problem for a hybrid legged wheeled mobile robot. Supervisory control of the robot is accomplished by the terrain recognizer, which classifies depth images obtained from a commercial time of flight depth sensor and selects different locomotion mode subcontrollers based on the recognized terrain type. For the terrain recognizer, a database is generated consisting of five terrain classes (Uneven, Level Ground, Stair Up, Stair Down, and Nontraversable). Depth images are enhanced using confidence map based filtering. The accuracy of the terrain classification using Support Vector Machine classifier for the testing database in five-class terrain recognition problem is 97%. Real-world experiments assess the locomotion abilities of the quadruped and the capability of the terrain recognizer in real-time settings. The results of these experiments show depth images processed in real time using machine learning algorithms can be used for the supervisory control of hybrid robots with legged and wheeled locomotion capabilities.

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Hayat, Abdullah Aamir, Karthikeyan Elangovan, Mohan Rajesh Elara, and Mullapudi Sai Teja. "Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot." Applied Sciences 9, no. 1 (2018): 94. http://dx.doi.org/10.3390/app9010094.

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This paper firstly presents the design and modeling of a quadruped wheeled robot named Tarantula. It has four legs each having four degrees of freedom with a proximal end attached to the trunk and the wheels for locomotion connected at the distal end. The two legs in the front and two at the back are actuated using two motors which are placed inside the trunk for simultaneous abduction or adduction. It is designed to manually reconfigure its topology as per the cross-sections of the drainage system. The bi-directional suspension system is designed using a single damper to prevent the trunk and inside components from shock. Formulation for kinematics of the wheels that is coupled with the kinematics of each leg is presented. We proposed the cost-effective method which is also an on-site approach to estimate the kinematic parameters and the effective trunk dimension after assembly of the quadruped robot using the monocular camera and ArUco markers instead of high-end devices like a laser tracker or coordinate measurement machine. The measurement technique is evaluated experimentally and the same set up was used for trajectory tracking of the Tarantula. The experimental method for the kinematic identification presented here can be easily extended to the other mobile robots with serial architecture designed legs.

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Umeda, Kazunori. "Special Issue on Robot Vision." Journal of Robotics and Mechatronics 15, no. 3 (2003): 253. http://dx.doi.org/10.20965/jrm.2003.p0253.

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Robot vision is an essential key technology in robotics and mechatronics. The number of studies on robot vision is wide-ranging, and this topic remains a hot vital target. This special issue reviews recent advances in this exciting field, following up two special issues, Vol. 11 No. 2, and Vol. 13 No. 6, which attracted more papers than expected. This indicates the high degree of research activity in this field. I am most pleased to report that this issue presents 12 excellent papers covering robot vision, including basic algorithms based on precise optical models, pattern and gesture recognition, and active vision. Several papers treat range imaging and others interesting applications to agriculture and quadruped robots and new devices. This issue also presents two news briefs, one on a practical range sensor suited to mobile robots and the other on vision devices that are the improved ones of famous IP-5000 series. I am convinced that this special issue helps research on robot vision more exciting. I would like to close by thanking all of the researchers who submitted their studies, and to give special thanks to the reviewers and editors, especially Prof. M. Kaneko, Dr. K. Yokoi, and Prof. Y. Nakauchi.

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OGIHARA, Kazuki, and Takeshi AOKI. "2A2-P02 Study of quadruped robot with spherical shell(Mobile Robot with Special Mechanism (2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _2A2—P02_1—_2A2—P02_2. http://dx.doi.org/10.1299/jsmermd.2013._2a2-p02_1.

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KANNO, Ryoichiro, Kimiya AKIYAMA, and Yoshio YAMAMOTO. "20220 Robust environment recognition of quadruped mobile robot based on visual information." Proceedings of Conference of Kanto Branch 2009.15 (2009): 179–80. http://dx.doi.org/10.1299/jsmekanto.2009.15.179.

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Khan, Rezwan Al Islam, Chenyun Zhang, Zhongxiao Deng, et al. "Multi-Agent Reinforcement Learning Tracking Control of a Bionic Wheel-Legged Quadruped." Machines 12, no. 12 (2024): 902. https://doi.org/10.3390/machines12120902.

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This paper presents a novel approach to developing control strategies for mobile robots, specifically the Pegasus, a bionic wheel-legged quadruped robot with unique chassis mechanics that enable four-wheel independent steering and diverse gaits. A multi-agent (MA) reinforcement learning (RL) controller is proposed, treating each leg as an independent agent with the goal of autonomous learning. The framework involves a multi-agent setup to model torso and leg dynamics, incorporating motion guidance optimization signal in the policy training and reward function. By doing so, we address leg schedule patterns for the complex configuration of the Pegasus, the requirement for various gaits, and the design of reward functions for MA-RL agents. Agents were trained using two variations of policy networks based on the framework, and real-world tests show promising results with easy policy transfer from simulation to the actual hardware. The proposed framework models acquired higher rewards and converged faster in training than other variants. Various experiments on the robot deployed framework showed fast response (0.8 s) under disturbance and low linear, angular velocity, and heading error, which was 2.5 cm/s, 0.06 rad/s, and 4°, respectively. Overall, the study demonstrates the feasibility of the proposed MA-RL control framework.

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Koshy, Monish, S. Sreevishnu, Anjai Krishnan, and Gautham P. Das. "Mechanical Design and Analysis of Hybrid Mobile Robot with Aerial and Terrain Locomotion Capability." MATEC Web of Conferences 172 (2018): 03007. http://dx.doi.org/10.1051/matecconf/201817203007.

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Although different locomotion mechanisms are available, the use of only one locomotion system in a mobile robot restricts its application scenarios. Hybrid locomotion improves the maneuverability and flexibility of a robot. This paper introduces a hybrid locomotion mobile robot, a combination of quadruped and quadrotor system. The robot has a unique expediency to fly to remote places, then walk to perform close range operations in the field. The prime intention is to use the quadrotor to tackle large objects by flying over it. The four legs provide easy movements in uneven terrain. Thus, this robot can be used in erratic and dynamic environments where stability, maneuverability and flexibility are required. This system can be used as first responders in search and rescue missions, where it responds before human responders gets to the site and get the entire information of the area in detail (like spotting trapped ones, getting detailed 3D mapping etc.). This platform offers unique capabilities suited for search and rescue, disaster zone assistance and surveillances. This paper elucidates the mechanical design and analysis of a hybrid locomotion robot. The solid model of the robot was made using CATIA and further analysis like static analysis, computational fluid dynamics analysis and drop test analysis were performed in ANSYS.

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Mezghiche, Mohamed Khalil, and Noureddine Djedi. "Quantum genetic algorithm to evolve controllers for self-reconfigurable modular robots." World Journal of Engineering 17, no. 3 (2020): 427–35. http://dx.doi.org/10.1108/wje-02-2019-0032.

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Purpose The purpose of this study is to explore using real-observation quantum genetic algorithms (RQGAs) to evolve neural controllers that are capable of controlling a self-reconfigurable modular robot in an adaptive locomotion task. Design/methodology/approach Quantum-inspired genetic algorithms (QGAs) have shown their superiority against conventional genetic algorithms in numerous challenging applications in recent years. The authors have experimented with several QGAs variants and real-observation QGA achieved the best results in solving numerical optimization problems. The modular robot used in this study is a hybrid simulated robot; each module has two degrees of freedom and four connecting faces. The modular robot also possesses self-reconfiguration and self-mobile capabilities. Findings The authors have conducted several experiments using different robot configurations ranging from a single module configuration to test the self-mobile property to several disconnected modules configuration to examine self-reconfiguration, as well as snake, quadruped and rolling track configurations. The results demonstrate that the robot was able to perform self-reconfiguration and produce stable gaits in all test scenarios. Originality/value The artificial neural controllers evolved using the real-observation QGA were able to control the self-reconfigurable modular robot in the adaptive locomotion task efficiently.

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Khoshboresh-Masouleh, Mehdi, and Reza Shah-Hosseini. "Multimodal Few-Shot Target Detection Based on Uncertainty Analysis in Time-Series Images." Drones 7, no. 2 (2023): 66. http://dx.doi.org/10.3390/drones7020066.

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The ability to interpret multimodal data, and map the targets and anomalies within, is important for an automatic recognition system. Due to the expensive and time-consuming nature of multimodal time-series data annotation in the training stage, multimodal time-series image understanding, from drone and quadruped mobile robot platforms, is a challenging task for remote sensing and photogrammetry. In this regard, robust methods must be computationally low-cost, due to the limited data on aerial and ground-based platforms, yet accurate enough to meet certainty measures. In this study, a few-shot learning architecture, based on a squeeze-and-attention structure, is proposed for multimodal target detection, using time-series images from the drone and quadruped robot platforms with a small training dataset. To build robust algorithms in target detection, a squeeze-and-attention structure has been developed from multimodal time-series images from limited training data as an optimized method. The proposed architecture was validated on three datasets with multiple modalities (e.g., red-green-blue, color-infrared, and thermal), achieving competitive results.

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Huang, Hsinpu, Junhui Zhang, Bing Xu, Gan Liu, Qingyou Luo, and Ximeng Wang. "Topology optimization design of a lightweight integrated manifold with low pressure loss in a hydraulic quadruped robot actuator." Mechanical Sciences 12, no. 1 (2021): 249–57. http://dx.doi.org/10.5194/ms-12-249-2021.

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Abstract. In recent years, hydraulic quadruped robots have received increasing attention because of their strong environment adaptability and high load capacity. However, weight control is an important issue for mobile systems in consideration of limited onboard energy. Overweight will cause extra load on joints, reduce the flexibility of movement, and consume more power. Topology optimization is an effective tool to reduce volume and weight while maintaining enough strength. This article takes both optimal geometries and contained flow channels into consideration and gives solutions to structure design and good print quality in a manifold used on a robot. Using topology optimization, the volume of the manifold is further reduced by 50.7 %, while it can meet the mechanical requirement for actual application.

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Țopa, Ionuț-Cristian, and Silviu-Mihai Petrişor. "Modularization of a Robotic Quadruped Platform for Deployment in Tactical Military Applications." International conference KNOWLEDGE-BASED ORGANIZATION 31, no. 1 (2025): 204–11. https://doi.org/10.2478/kbo-2025-0026.

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Abstract This study explores the feasibility of adapting a robotic quadruped platform for tactical military demonstration applications through its structural modularization. The main objective of the scientific approach consists in the design and realization of a modular system for the support and integration of an airsoft machine pistol on a mobile quadruped robot, with the aim of implementing it in tactical military demonstration applications specific to infantry and artillery weapons. The robotic platform employed is a commercially available model designed for civilian use, and the proposed modifications do not involve irreversible interventions on its architecture, leaving the possibility of rapid reconfiguration for various purposes. The designed mount ensures the integration of a remotely controllable non-lethal weapon system, and the modular design allows for easy installation and dismantling according to mission needs.

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TSUCHIYA, Yuichi, and Toyomi FUJITA. "2A2-B06 Development of Quadruped Tracked Mobile Robot and its Basic Motion(Wheeled Robot / Tracked Vehicle (2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _2A2—B06_1—_2A2—B06_2. http://dx.doi.org/10.1299/jsmermd.2014._2a2-b06_1.

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Gao, Qiangsheng, Ka Ho Cheng, Anran Li, and Yibo Liu. "P‐18.2: Relative Localization for Real‐time Adaptive Quadruped Mobile Projector System." SID Symposium Digest of Technical Papers 55, S1 (2024): 1557–59. http://dx.doi.org/10.1002/sdtp.17425.

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The technology of home projectors has matured significantly. However, most projectors are limited to static manual projectors, and projectors capable of automatic focusing and keystone correction are expensive. Furthermore, there is still room for development in the adaptability and real‐time performance of the screen distance and spatial angle measurement systems that projectors use for automatic focusing and keystone correction. Compared with the existing laser focusing technology, in this research, we present an alternative solution to acquire real‐time screen distance and spatial angle estimations using relative localization algorithms and an ultrasonic ranging sensor array. The relative localization information can then be employed for automatic focusing and keystone correction of a projector mounted on the mobile platform of an open‐source quadruped robot. The proposed approach will enhance the versatility and adaptability of the projector system, providing an economical solution for real‐time automatic focusing and keystone correction in mobile projector platforms.

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Krejčí, Jakub, Marek Babiuch, Jiří Suder, Václav Krys, and Zdenko Bobovský. "Latency-Sensitive Wireless Communication in Dynamically Moving Robots for Urban Mobility Applications." Smart Cities 8, no. 4 (2025): 105. https://doi.org/10.3390/smartcities8040105.

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Reliable wireless communication is essential for mobile robotic systems operating in dynamic environments, particularly in the context of smart mobility and cloud-integrated urban infrastructures. This article presents an experimental study analyzing the impact of robot motion dynamics on wireless network performance, contributing to the broader discussion on data reliability and communication efficiency in intelligent transportation systems. Measurements were conducted using a quadruped robot equipped with an onboard edge computing device, navigating predefined trajectories in a laboratory setting designed to emulate real-world variability. Key wireless parameters, including signal strength (RSSI), latency, and packet loss, were continuously monitored alongside robot kinematic data such as speed, orientation (roll, pitch, yaw), and movement patterns. The results show a significant correlation between dynamic motion—especially high forward velocities and rotational maneuvers—and degradations in network performance. Increased robot speeds and frequent orientation changes were associated with elevated latency and greater packet loss, while static or low-motion periods exhibited more stable communication. These findings highlight critical challenges for real-time data transmission in mobile IoRT (Internet of Robotic Things) systems, and emphasize the role of network-aware robotic behavior, interoperable communication protocols, and edge-to-cloud data integration in ensuring robust wireless performance within smart city environments.

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YAMAMOTO, Kanta, and Takeshi AOKI. "Development of mobile robot using semicircular wheels on uneven terrain based on quadruped walking." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 (2018): 1P2—G03. http://dx.doi.org/10.1299/jsmermd.2018.1p2-g03.

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YAMAMOTO, Kanta, and Takeshi AOKI. "Development of mobile robot using semicircular wheels on uneven terrain based on quadruped walking." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 (2019): 2P2—B05. http://dx.doi.org/10.1299/jsmermd.2019.2p2-b05.

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TSUCHIYA, Yuichi, Taiga SASAKI, and Toyomi FUJITA. "1P2-F05 Retrieving Motion of an Object under a Board by Quadruped Tracked Mobile Robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (2015): _1P2—F05_1—_1P2—F05_2. http://dx.doi.org/10.1299/jsmermd.2015._1p2-f05_1.

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HAZAWA, Hiroshi, and Toyomi FUJITA. "1P1-J16 Development of Quadruped Tracked Mobile Robot : Design of Basic Mechanisms and Prototype of Robot Body with Crawler(Wheeled Robot/Tracked Vehicle)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011 (2011): _1P1—J16_1—_1P1—J16_2. http://dx.doi.org/10.1299/jsmermd.2011._1p1-j16_1.

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Sreevishnu, S., Monish Koshy, Anjai Krishnan, and Gautham P. Das. "Kinematic Design, Analysis and Simulation of a Hybrid Robot with Terrain and Aerial Locomotion Capability." MATEC Web of Conferences 172 (2018): 03008. http://dx.doi.org/10.1051/matecconf/201817203008.

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Having only one type of locomotion mechanism limits the stability and locomotion capability of a mobile robot on irregular terrain surfaces. One of the possible solution to this is combining more than one locomotion mechanisms in the robot. In this paper, robotic platform composed of a quadruped module for terrain locomotion and quadrotor module for aerial locomotion is introduced. This design is inspired by the way which birds are using their wings and legs for stability in slopped and uneven surfaces. The main idea is to combine the two systems in such a way that the strengths of both subsystems are used, and the weakness of the either systems are covered. The ability of the robot to reach the target position quickly and to avoid large terrestrial obstacles by flying expands its application in various areas of search and rescue. The same platform can be used for detailed 3D mapping and aerial mapping which are very helpful in rescue operations. In particular, this paper presents kinematic design, analysis and simulation of such a robotic system. Simulation and verification of results are done using MATLAB.

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Park, Sangyoon, Sungha Ju, Minh Hieu Nguyen, Sanghyun Yoon, and Joon Heo. "Automated Point Cloud Registration Approach Optimized for a Stop-and-Go Scanning System." Sensors 24, no. 1 (2023): 138. http://dx.doi.org/10.3390/s24010138.

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The latest advances in mobile platforms, such as robots, have enabled the automatic acquisition of full coverage point cloud data from large areas with terrestrial laser scanning. Despite this progress, the crucial post-processing step of registration, which aligns raw point cloud data from separate local coordinate systems into a unified coordinate system, still relies on manual intervention. To address this practical issue, this study presents an automated point cloud registration approach optimized for a stop-and-go scanning system based on a quadruped walking robot. The proposed approach comprises three main phases: perpendicular constrained wall-plane extraction; coarse registration with plane matching using point-to-point displacement calculation; and fine registration with horizontality constrained iterative closest point (ICP). Experimental results indicate that the proposed method successfully achieved automated registration with an accuracy of 0.044 m and a successful scan rate (SSR) of 100% within a time frame of 424.2 s with 18 sets of scan data acquired from the stop-and-go scanning system in a real-world indoor environment. Furthermore, it surpasses conventional approaches, ensuring reliable registration for point cloud pairs with low overlap in specific indoor environmental conditions.

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Xue, Yongjiang, Wei Wang, Mingyu Duan, Nanqing Jiang, Shaoshi Zhang, and Xuan Xiao. "Rolling vs. Swing: A Strategy for Enhancing Locomotion Speed and Stability in Legged Robots." Biomimetics 10, no. 7 (2025): 435. https://doi.org/10.3390/biomimetics10070435.

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Legged robots face inherent challenges in energy efficiency and stability at high speeds due to the repetitive acceleration–deceleration cycles of swing-based locomotion. To address these limitations, this paper presents a motion strategy that uses rolling gait instead of swing gait to improve the energy efficiency and stability. First, a wheel-legged quadruped robot, R-Taichi, is developed, which is capable of switching to legged, wheeled, and RHex mobile modes. Second, the mechanical structure of the transformable two-degree-of-freedom leg is introduced, and the kinematics is analyzed. Finally, experiments are conducted to generate wheeled, legged, and RHex motion in both swing and rolling gaits, and the energy efficiency is further compared. The experimental results show that the rolling motion can ensure stable ground contact and mitigate cyclic collisions, reducing specific resistance by up to 30% compared with conventional swing gaits, achieving a top speed of 0.7 m/s with enhanced stability (root mean square error (RMSE) reduction of 22% over RHex mode). Furthermore, R-Taichi exhibits robust multi-terrain adaptability, successfully traversing gravel, grass, and obstacles up to 150 mm in height.

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Kamei, S., and M. Kakikura. "Path Planning for Quadruped Robot in Grounding plane Agitation : 2nd Report : The proposal of the mobile robot development in grounding plane agitation environment." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2002 (2002): 67. http://dx.doi.org/10.1299/jsmermd.2002.67_6.

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