The design of robots that interact autonomously with the environment and exhibit complex
behaviours is an open challenge that can benefit from understanding what makes living …

Animals are capable of precise and agile locomotion using vision. Replicating this ability
has been a long-standing goal in robotics. The traditional approach has been to decompose …

Legged robots that can operate autonomously in remote and hazardous environments will
greatly increase opportunities for exploration into underexplored areas. Exteroceptive …

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

Parkour is a grand challenge for legged locomotion that requires robots to overcome various
obstacles rapidly in complex environments. Existing methods can generate either diverse …

This letter addresses the problem of legged locomotion in non-flat terrain. As legged robots
such as quadrupeds are to be deployed in terrains with geometries which are difficult to …

We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …

Perceiving the surrounding environment is crucial for autonomous mobile robots. An
elevation map provides a memory-efficient and simple yet powerful geometric represen …

Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through
a robot-centric visual unit, appears partially occluded and noisy. This article presents the …

We exploit the complementary strengths of vision and proprioception to develop a point-goal
navigation system for legged robots, called VP-Nav. Legged systems are capable of …