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

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile
maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A …

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 introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-
source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently …

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

In this letter, we present a whole-body nonlinear model predictive control approach for rigid
body systems subject to contacts. We use a full-dynamic system model which also includes …

The problem of dynamic locomotion over rough terrain requires both accurate foot
placement together with an emphasis on dynamic stability. Existing approaches to this …

Swarms of ground-based robots are presently limited to relatively simple environments,
which we attribute in part to the lack of locomotor capabilities needed to traverse complex …

Trajectory optimization is a widely used tool for robot motion planning and control. Existing
solvers for these problems either rely on off-the-shelf nonlinear programming solvers that …