3 papers
cs.RO2025
Refining Motion for Peak Performance: Identifying Optimal Gait Parameters for Energy-Efficient Quadrupedal Bounding
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
Energy efficiency is a critical factor in the performance and autonomy of quadrupedal robots. While previous research has focused on mechanical design and actuation improvements, t…
cs.RO2025
16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits
Yasser G. Alqaham, Jing Cheng, Zhenyu Gan
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a…
cs.RO2025
Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion
Jiayu Ding, Rohit Jakkula, Tom Xiao +1
Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each modul…