Legged Robots Team

Research team of Prof. Papadopoulos Group at Control Systems Lab - NTUA

Research Group


Quadruped animals show incredible motion capabilities in terms of speed, agility and energy efficiency. By employing dynamically stable motion gaits, they are able to achieve high speeds, while by adapting the stiffness of their muscles they are able to maintain


The development of legged robots with capabilities close to those of animals opens new and valuable possibilities, such as reaching distant points through rough or slopped terrains, detecting survivors in earthquake ruins or workers in mine tunnels, helping in fire-fighting


Our work includes analytical, simulation and experimental thrusts. The analytical work focuses on spatial dynamic modelling and passive dynamics analysis of highly articulated, variable compliance quadrupeds, and on robust nonlinear control methods for achieving given speeds in traversing known but

Recent Work

Our recent work focuses on the design, development and control of legged systems that move with efficiency, agility and speed. Custom made optimal actuators have been designed and manufactured to enable capabilities close to those of quadruped animals. Optimal planners and controllers have been also designed to drive our robots in such unpredictable environments.

Leg Prototype
Hybrid Legged/Wheeled
Laelaps II

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