Legged locomotion is an efficient solution for mobility on unknown and possibly rugged planetary terrains. Research on walking robots has seen substantial progress in the last few decades (cf. [1-6]). Studies already focus on the application of walking
robots in space, e.g., . The authors of  even draw inspiration from the jumping movements of the astronauts that landed on the moon in order to make an initial design of a jumping robot taking advantage of the moon's low-gravity
Early work on six-legged robots used the Hildebrand methodology to analyse the walking gaits [14,15]. For example, in , this scheme has been used to analyse the evolved walking gait of a hexapod. More complex and detailed ways of analysing gaits than the Hidebrand diagrams are used today, both in biology and robotics. For example, newly studied features include the contact forces (cf. ). The use of such more complex analysis methods is encouraged in the context of this project, as long as the information on the gait present in the Hildebrand diagrams is preserved. Namely, that information captures gait properties that are essential to the roject, such as whether the robot is walking or hopping.
2 Study objective
The study proposal with number 12-5201 has been released in the Ariadna Call 2012/01. Following the thorough evaluation of the participation candidatures, the Advanced Concepts Team selected the Control Systems Laboratory of the National Technical University of Athens . Below the list of the researchers participating in the study.
Guido de Croon, ACT
Dario Izzo, ACT
Evangelos G. Papadopoulos, the National Technical University of Athens
Ioannis Kontolatis, the National Technical University of Athens
Iosif S. Paraskevas, the National Technical University of Athens
Study has been running from April, 2012 untill June,2013. Final report of the study can be found here.
- How to Keep From Falling Forward: Elementary Swing Leg Action for Passive Dynamic Walkers, by M. Wisse, A.L. Schwab, R.Q. van der Linde, and F.C.T. van der Helm, IEEE Transactions on Robotics 21 (3), pp. 393-401, (2005)
- Footstep Planning for the Honda ASIMO Humanoid, Chestnutt, J., Lau, M., Cheung, G., Kuffner, J., Hodgins, J., and Kanade, T., in ICRA 2005, pp. 629 - 634 (2005)
- A Bipedal Walking Robot with Efficient and Human-Like Gait. Collins, S.H., Ruina, A., ICRA 2005, pp. 1983 - 1988 (2005)
- Online trajectory generation for omnidirectional biped walking, by Behnke, S., in ICRA 2006. pp. 1597 - 1603, (2006).
- Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot, by Ogura, Y., Shimomura, K., Kondo, A., Morishima, A., Okubo, T., Momoki, S., Hun-ok Lim, and Takanishi, A., in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3976 - 3981 (2006).
- A brief review of bipedal robotics research, by Mattias Wahde , Jimmy Pettersson, in Proceedings of the 8th Mechatronics Forum International Conference, (2002).
- ATHLETE: a cargo handling and manipulation robot for the moon, by B.H. Wilcox, T. Litwin, J. Biesiadecki, J. Matthews, M. Heverly, and J. Morrison. Journal of Field Robotics 24 (5), pp. 421-434, (2007).
- Simulation study of a bipedal robot jumping motion approach on moon gravity, by A.M.M. Omer, H. Lim, and A. Takanishi. IEEE ROBIO 2010, Tianjin, China. (2010)
- Evolving legged robots using biologically inspired optimization strategies, B. Smith, C.M. Saaj, and E. Allouis. IEEE ROBIO 2010, Tianjin, China. (2010)
- Evolving robot gaits in hardware: the HyperNEAT generative encoding vs. parameter optimization, J. Yosinski et al. In Proceedings of the European Conference on Artificial Life (ECAL 2011).
- Hornby, Gregory S., Lipson, Hod, and Pollack, Jordan B. Generative Representations for the Automated Design of Modular Physical Robots. IEEE Transactions on Robotics and Automation, vol. 19, no. 3, pp. 703-719 (2003).
- The Design of LEO: a 2D Bipedal Walking Robot for Online Autonomous Reinforcement Learning, by E. Schuitema, M. Wisse, T. Ramakers, and P. Jonker, in IEEE/RSJ International Conference on Intelligent Robots and Systems (2010)
- The Quadrupedal Gaits of Vertebrates, by Milton Hildebrand, BioScience, Vol. 39, No. 11, Animals in Motion (Dec., 1989), pp. 766-775
- A Distributed Neural Network Architecture for Hexapod Robot Locomotion, by R.D. Beer, H.J. Chiel, R.D. Quinn, K.S. Espenschied, and P. Larsson, in Neural Computation 1992 4:3, pp. 356-365
- Robust Agent Control of an Autonomous Robot with Many Sensors and Actuators, by C. Ferrell, 1993, Technical report AITR-1443, MIT, USA.
- A machine learning approach for automated recognition of movement patterns using basic, kinetic and kinematic gait data, by R. Begg, J. Kamruzzaman, in Journal of Biomechanics 38, 2005, pp. 401–408