Multilegged robots have the potential to serve as assistants for humans, replacing them in
performing dangerous, dull, or unclean tasks. However, they are still far from being …

Applying concepts and methods of bionics to endow autonomous robots with elegant and
agile mobility just like natural living beings is gradually becoming a hot research topic in …

Successful real-world deployment of legged robots would require them to adapt in real-time
to unseen scenarios like changing terrains, changing payloads, wear and tear. This paper …

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

Reproducing the diverse and agile locomotion skills of animals has been a longstanding
challenge in robotics. While manually-designed controllers have been able to emulate many …

Mini Cheetah is a small and inexpensive, yet powerful and mechanically robust quadruped
robot, intended to enable rapid development of control systems for legged robots. The robot …

This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its
predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control …

Legged robots have the potential to expand the reach of autonomy beyond paved roads. In
this work, we consider the difficult problem of locomotion on challenging terrains using 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 …

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 …