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 …

Differential Dynamic Programming (DDP) is an efficient computational tool for solving
nonlinear optimal control problems. It was originally designed as a single shooting method …

This paper presents a contact-implicit model predictive control (MPC) framework for the real-
time discovery of multi-contact motions, without predefined contact mode sequences or …

Trajectory optimization (TO) has proven, over the last decade, to be a versatile and effective
framework for robot control. Several numerical solvers have been demonstrated to be fast …

This work introduces an optimization-based locomotion control framework for on-the-fly
synthesis of complex dynamic maneuvers. At the core of the proposed framework is a …

We present a comprehensive study on discrete morphological symmetries of dynamical
systems, which are commonly observed in biological and artificial locomoting systems, such …

Model-based control for robots has increasingly depended on optimization-based methods,
such as differential dynamic programming (DDP) and iterative LQR (iLQR). These methods …

Full-dynamics model predictive control (MPC) has recently been applied to quadrupedal
locomotion in semi-unstructured environments. These advances have been fueled by the …

We present a comprehensive framework for studying and leveraging morphological
symmetries in robotic systems. These are intrinsic properties of the robot's morphology …

Achieving stable hopping has been a hallmark challenge in the field of dynamic legged
locomotion. Controlled hopping is notably difficult due to extended periods of under …