Shen-Chiang Chen

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We report on the algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on(More)
The algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot is reported. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. A brief study on stability of the(More)
This video submission presents the experimental validation and testing of a leg-wheel hybrid mobile robot Quattroped. By combining the smooth and efficient motion of wheels on the flat ground with the great mobility of legs on rough terrains, the design of the robot aims for agile and versatile yet efficient locomotion in both natural and artificial(More)
We report on the design and implementation of a simple bio-inspired hexapod driven by a single motor. Aiming for generating the dynamic locomotion of the robot, the design is based on the motion of a spring loaded inverted pendulum (SLIP) and then expanded to the hexapod morphology. The required speed variations and phase offsets of legs are achieved by(More)
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