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Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…

Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…

Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…

Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…

Model Predictive Control (MPC) is a common tool for the control of nonlinear, real-world systems, such as legged robots. However, solving MPC quickly enough to enable its use in real-time is often challenging. One common solution is given…

This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…

A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…

We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…

For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…

Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…

Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…

In this paper, we present a model-free learning-based control scheme for the soft snake robot to improve its contact-aware locomotion performance in a cluttered environment. The control scheme includes two cooperative controllers: A…

Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has been a long-standing challenge in robotics. Reinforcement…

Legged robots have significant potential to operate in highly unstructured environments. The design of locomotion control is, however, still challenging. Currently, controllers must be either manually designed for specific robots and tasks,…

This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…

Quadruped robots excel in traversing complex, unstructured environments where wheeled robots often fail. However, enabling efficient and adaptable locomotion remains challenging due to the quadrupeds' nonlinear dynamics, high degrees of…

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…

It has been shown that max-plus linear systems are well suited for applications in synchronization and scheduling, such as the generation of train timetables, manufacturing, or traffic. In this paper we show that the same is true for…