The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …

Research into legged robotics is primarily motivated by the prospects of building machines
that are able to navigate in challenging and complex environments that are predominantly …

We present a contact planner for complex legged locomotion tasks: standing up, climbing
stairs using a handrail, crossing rubble, and getting out of a car. The need for such a planner …

This paper presents a generic and efficient approach to generate dynamically consistent
motions for under-actuated systems like humanoid or quadruped robots. The main …

Locomotion of legged robots on arbitrary terrain using multiple contacts is yet an open
problem. To tackle it, a common approach is to rely on reduced template models (eg, the …

We propose a method for checking and enforcing multicontact stability based on the zero-
tilting moment point (ZMP). The key to our development is the generalization of ZMP support …

We present a planner for underactuated hyper-redundant robots, such as humanoid robots,
for which the movement can only be initiated by taking contacts with the environment. We …

We build on previous works advocating the use of the Gravito-Inertial Wrench Cone (GIWC)
as a general contact stability criterion (a “ZMP for non-coplanar contacts”). We show how to …

We present a multi-contact walking pattern generator based on preview-control of the 3D
acceleration of the center of mass (COM). A key point in the design of our algorithm is the …

We tackle the transition feasibility problem, that is the issue of determining whether there
exists a feasible motion connecting two configurations of a legged robot. To achieve this we …