Legged robots require knowledge of pose and velocity in order to maintain stability and
execute walking paths. Current solutions either rely on vision data, which is susceptible to …

Rigid body dynamics is a well-established frame--work in robotics. It can be used to expose
the analytic form of kinematic and dynamic functions of the robot model. So far, two major …

Traditional motion planning approaches for multilegged locomotion divide the problem into
several stages, such as contact search and trajectory generation. However, reasoning about …

We present experimental results using a passive whole-body control approach for
quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's …

Planning whole-body motions while taking into account the terrain conditions is a
challenging problem for legged robots since the terrain model might produce many local …

Re-planning in legged locomotion is crucial to track the desired user velocity while adapting
to the terrain and rejecting external disturbances. In this work, we propose and test in …

In this paper, we present a modular and flexible state estimation framework for legged robots
operating in real-world scenarios, where environmental conditions, such as occlusions, low …

Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial
applications such as inspection. However, to leave the laboratory and to become useful to …

Legged robots can outperform wheeled machines for most navigation tasks across unknown
and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots …

In this paper, we present a 3D factor-graph LiDAR-SLAM system which incorporates a state-
of-the-art deeply learned feature-based loop closure detector to enable a legged robot to …