Legged locomotion can extend the operational domain of robots to some of the most
challenging environments on Earth. However, conventional controllers for legged …

We present visual inertial lidar legged navigation system (VILENS), an odometry system for
legged robots based on factor graphs. The key novelty is the tight fusion of four different …

Legged robots are sent into outdoor environments and desired to explore unstructured
terrains like animals in nature. Therefore, the ability to robustly detect leg phase transitions …

As legged robots are sent into unstructured environments, the ability to robustly manage
contact transitions will be a critical skill. This paper introduces an approach to …

Planning and execution of agile locomotion maneuvers have been a longstanding
challenge in legged robotics. It requires to derive motion plans and local feedback policies …

Planning whole-body motions while taking into account the terrain conditions is a
challenging problem for legged robots since the terrain model might produce many local …

The control of bipedal robotic walking remains a challenging problem in the domains of
computation and experiment, due to the multi-body dynamics and various sources of …

In this paper, we present a modular and flexible state estimation framework for legged robots
operating in real-world scenarios, where environmental conditions, such as occlusions, low …

Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial
applications such as inspection. However, to leave the laboratory and to become useful to …

Dynamic locomotion on unstructured and uneven terrain is a challenging task in legged
robotics. Especially when it comes to slippery ground conditions, common state estimation …