Nowadays, design, development, and motion planning of a mobile robot explore research
areas in the field of robotics. Mobile robots have an extensive area of applications in various …

The graceful and agile movements of animals are difficult to analyze and emulate because
locomotion is the result of a complex interplay of many components: the central and …

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 …

Deep reinforcement learning (deep RL) holds the promise of automating the acquisition of
complex controllers that can map sensory inputs directly to low-level actions. In the domain …

This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and
dynamic motion capability. Thanks to novel, compliant joint modules with integrated …

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

Microrobots that are light and agile yet require no artificial power input can be widely used in
medical, military, and industrial applications. As an actuation system to drive such robots …

This paper provides a system overview about ANYmal, a quadrupedal robot developed for
operation in harsh environments. The 30 kg, 0.5 m tall robotic dog was built in a modular …

The creation of autonomous subgram microrobots capable of complex behaviors remains a
grand challenge in robotics largely due to the lack of microactuators with high work densities …

We introduce Pinocchio, an open-source software framework that implements rigid body
dynamics algorithms and their analytical derivatives. Pinocchio does not only include …