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Open access Aug 2026

Terrain‐Adaptive Quadrupedal Locomotion Using Model Predictive Control With Impedance Control and SINDy Model Enhancement

Quadrupedal robots operating in unstructured environments require adaptive control systems that can handle diverse terrain conditions without prior surface characterization. This paper presents an integrated control architecture that combines Model Predictive Control (MPC) with adaptive impedance control and SINDy‐ba...

Peter James McConnellogue, Mien Van, Rhyss McMullan et al. · 0 citations
Sep 2026

Proprioceptive-based terrain-adaptive rolling control for wheeled-quadruped robots

This paper presents a proprioception-based rolling control framework for wheeled-quadruped robots. The proposed framework serves as a reactive control approach for adaptive terrain traversal and body stabilization, without explicit motion planning. For wheeled-quadruped robots, adding wheels significantly increases t...

Shi-Chao Zhou, Zhong-Qu Xie, Ling-Kun Chen et al. · 0 citations
Nov 2026

Terramechanics-Aware Adaptive Quadrupedal Locomotion via Foot-Terrain Interaction Model

Locomotion on granular terrain is an essential capability for quadrupedal robots in field applications such as planetary exploration: soft soil yields under load, dissipates propulsive energy, and often alternates abruptly with rigid ground. On such substrates, the mismatch between idealized rigid-contact training and...

Jun-Long Guo, Qing-Yang Wang, Peng Tian et al. · 0 citations
Open access Aug 2026

Locomotion Control Strategy Design and Simulation of Parallel-Legged Insect-Scale Micro Crawling Robot

High nonlinearity and limited computational resources create persistent challenges for achieving autonomous, stable, and accurate locomotion in insect-scale crawling robots, hindering their practical deployment. In this study, we build the mathematical models of the insect-scale micro crawling robot named PLioBot and p...

Qun-Wei Zhu, Tao Jiang, Zi-Rong Luo et al. · 0 citations
Conference Sep 2026

Body-State Supervisory Modulation with Dynamic Support Trajectory for Hexapod Robot Locomotion on Deformable Terrain

The paper presents proposed Body-State Supervisory Modulation (BSSM) framework integrated with a Dynamic Support Trajectory (DST) to improve hexapod locomotion stability on deformable terrain. Traditional adaptive locomotion techniques, such Environment-Trailed Trajectory (ETT), use force- or trajectory-based activatio...

Nur Salasus Salwa Khairul Anuar, Addie Irawan · 0 citations
Open access Sep 2026

DESIGN AND CONTROL OF A SIX-LEGGED SPIDER ROBOT FOR ENHANCED MOBILITY AND ADAPTABILITY

Spider robots are widely preferred due to their superior mobility enabled by multi-legged structures and articulated joints, which allow effective locomotion on uneven terrain and obstacle negotiation. However, the mechanical complexity of legged systems may lead to limited payload capacity, a high number of moving par...

Yusuf Bolat, Hüseyin Ömerbaşoğlu, Merdan Özkahraman et al. · 0 citations

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