Abstract Purpose of Review The goal of this review is to evaluate the current status of multi-
robot systems in the context of search and rescue. This includes an investigation of their …

In recent years, quadruped mobile robots' development had experienced rapid progress,
which has subsequently increased their usage in many human-assisted applications …

Legged robots have enormous potential in their range of capabilities, from navigating
unstructured terrains to high-speed running. However, designing robust controllers for highly …

HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a
wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile …

We present visual inertial lidar legged navigation system (VILENS), an odometry system for
legged robots based on factor graphs. The key novelty is the tight fusion of four different …

Learning agile skills is one of the main challenges in robotics. To this end, reinforcement
learning approaches have achieved impressive results. These methods require explicit task …

Online planning of whole-body motions for legged robots is challenging due to the inherent
nonlinearity in the robot dynamics. In this work, we propose a nonlinear model predictive …

We combine Boston Dynamics Spot® with a light-weight, external robot arm to perform
dynamic grasping maneuvers. While Spot is a reliable, robust and easy-to-control mobile …

Reinforcement Learning (RL) has seen many recent successes for quadruped robot control.
The imitation of reference motions provides a simple and powerful prior for guiding solutions …

Planning and execution of agile locomotion maneuvers have been a longstanding
challenge in legged robotics. It requires to derive motion plans and local feedback policies …