In the last few years, the formulation of real-world optimization problems and their efficient
solution via metaheuristic algorithms has been a catalyst for a myriad of research studies. In …

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

We present a new open-source torque-controlled legged robot system, with a low-cost and
low-complexity actuator module at its core. It consists of a high-torque brushless DC motor …

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 …

This article investigates the problem of efficient computation of physically consistent
multicontact behaviors. Recent work showed that under mild assumptions, the problem …

Model Predictive Control (MPC) promises to endow robots with enough reactivity to perform
complex tasks in dynamic environments by frequently updating their motion plan based on …

To dynamically traverse challenging terrain, legged robots need to continually perceive and
reason about upcoming features, adjust the locations and timings of future footfalls and …

The quality of visual feedback can vary significantly on a legged robot meant to traverse
unknown and unstructured terrains. The map of the environment, acquired with online state …

Grasping objects under uncertainty remains an open problem in robotics research. This
uncertainty is often due to noisy or partial observations of the object pose or shape. To …

Given a desired object trajectory, how should a robot make contact to achieve it? This paper
proposes a global optimization model for this problem with alternated-sticking contact …