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The purpose of this paper is to introduce the robotic quadrupedal platform ALoF that is designed to aid research on perception in legged locomotion.

A well‐balanced size and complexity of the robot results in a robust platform that is easy to handle, yet able to perform complex maneuvers as well as to carry sophisticated 3D sensors. A very large range of motion allows the robot to actively explore its surroundings through haptic interaction, and to choose between a wide range of planning options.

This robot was employed and tested in the lunar robotics challenge organized by the European Space Agency, for which the authors also developed a novel crawling gait, in which the weight of the robot is alternately supported by scaled plates under the main body and the four shank segments. This allowed for stable locomotion in steep terrain with very loose soil.

The paper describes how a very large range of motion allows the robot to actively explore its surroundings through haptic interaction, and to choose between a wide range of planning options. The paper describes how the authors developed a novel crawling gait, in which the weight of the robot is alternately supported by scaled plates under the main body and the four shank segments.

The purpose of this paper is to evaluate the locomotion performance of all‐terrain rovers employing rocker‐type suspension system.

In this paper, a robot with advanced mobility features is presented and its locomotion performance is evaluated, following an analytical approach via extensive simulations. The vehicle features an independently controlled four‐wheel‐drive/4‐wheel‐steer architecture and it also employs a passive rocker‐type suspension system that improves the ability to traverse uneven terrain. An overview of modeling techniques for rover‐like vehicles is introduced. First, a method for formulating a kinematic model of an articulated vehicle is presented. Next, a method for expressing a quasi‐static model of forces acting on the robot is described. A modified rocker‐type suspension is also proposed that enables wheel camber change, allowing each wheel to keep an upright posture as the suspension conforms to ground unevenness.

The proposed models can be used to assess the locomotion performance of a mobile robot on rough‐terrain for design, control and path planning purposes. The advantage of the rocker‐type suspension over conventional spring‐type counterparts is demonstrated. The variable camber suspension is shown to be effective in improving a robot's traction and climbing ability.

The paper can be of great value when studying and optimizing the locomotion performance of mobile robots on rough terrain. These models can be used as a basis for advanced design, control and motion planning.

The paper describes an analytical approach for the study of the mobility characteristics of vehicles endowed with articulated suspension systems. A variable camber mechanism is also presented.

Regular cable trench inspection is crucial, and robotics automation provides an efficient and safer alternative to manual labor. However, existing robots have limited capabilities in traversing obstacles and lack a mechanical arm for detecting cables and equipment. This study aims to develop an intelligent robot for cable trench inspection, enhancing obstacle-crossing abilities and incorporating a mechanical arm for inspection tasks.

This study presents an intelligent robot for cable trench inspection, featuring a six-degree-of-freedom mechanical arm mounted on a six-track chassis with four flippers. The robot's climbing and obstacle-crossing stability, as well as the motion range of the mechanical arm, are analyzed. The positioning, navigation and remote monitoring systems are developed. Experiments, including climbing and obstacle-crossing performance tests, along with navigation and positioning system tests, are conducted. Finally, the robot's practicability is verified through field testing.

Equipped with flipper tracks, the cable trench inspection robot can traverse obstacles up to 30 cm high and maintain stable locomotion on 30° slopes. Its navigation system enables autonomous operation, while the mechanical arm performs cable current detection tasks. The remote monitoring system provides comprehensive control of the robot and environmental parameter monitoring in cable trenches.

The front and rear flipper tracks enhance the robot's ability to traverse obstacles in cable trenches. The mechanical arm addresses cable current and equipment contact detection issues. The navigation and remote monitoring systems improve the robot's autonomous operation and environmental monitoring capabilities. Implementing this robot can advance the automation and intelligence of cable trench inspections.