Teleoperation of humanoid robots enables the integration of the cognitive skills and domain
expertise of humans with the physical capabilities of humanoid robots. The operational …

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday
environments. These skills can be assessed on the basis of a system's ability to coordinate …

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

In this letter, we propose a whole-body planning framework that unifies dynamic locomotion
and manipulation tasks by formulating a single multi-contact optimal control problem. We …

We present a single trajectory optimization formulation for legged locomotion that
automatically determines the gait sequence, step timings, footholds, swing-leg motions, and …

Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …

This article presents a novel representation-free model predictive control (RF-MPC)
framework for controlling various dynamic motions of a quadrupedal robot in three …

Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps
requires systematic approaches across hardware design, motion planning, and control. In …

To plan dynamic, whole-body motions for robots, one conventionally faces the choice
between a complex, full-body dynamic model containing every link and actuator of the robot …