The science and technology of wearable robots are steadily advancing, and the use of such
robots in our everyday life appears to be within reach. Nevertheless, widespread adoption of …

A climbing robot that can rapidly move on diverse surfaces such as floors, walls, and ceilings
will have an enlarged operational workspace compared with other terrestrial robots …

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

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 …

In this article, we present the design of a powered knee-ankle prosthetic leg, which
implements high-torque actuators with low-reduction transmissions. The transmission …

High-performance actuators are crucial to enable mechanical versatility of wearable robots,
which are required to be lightweight, highly backdrivable, and with high bandwidth. State-of …

This paper presents a novel methodology for implementing optimized jumping behavior on
quadruped robots. Our method includes efficient trajectory optimization, precise high …

This paper presents a new Model Predictive Control (MPC) framework for controlling various
dynamic movements of a quadrupedal robot. System dynamics are represented by …

This article presents the design and validation of a backdrivable powered knee orthosis for
partial assistance of lower-limb musculature, which aims to facilitate daily activities in …

In this letter, we present qpSWIFT, a real-time quadratic program (QP) solver. Motivated by
the need for a robust embedded QP solver in robotic applications, qpSWIFT employs …