From quadrotors delivering packages in urban areas to robot arms moving in confined
warehouses, motion planning around obstacles is a core challenge in modern robotics …

We present a fast algorithm for the design of smooth paths (or trajectories) that are
constrained to lie in a collection of axis-aligned boxes. We consider the case where the …

We present a method for global motion planning of robotic systems that interact with the
environment through contacts. Our method directly handles the hybrid nature of such tasks …

Mobility has been one of the most impacted aspects of human life due to the spread of the
COVID-19 pandemic. Home confinement, the lack of access to physical rehabilitation, and …

An important issue when synthesizing legged locomotion plans is the combinatorial
complexity that arises from gait pattern selection. Though it can be defined manually, the gait …

In this paper we introduce a Sequential Convex Programming (SCP) algorithm for the
motion generation with the centroidal dynamics of legged robots using a sequential bounds …

In this paper, we introduce an O (N) algorithm for the computation of the centroidal
momentum matrix (CMM) and its time derivative using spatial algebra and expressed with …

Biped robot trajectory generation is a very complex task for real-world uneven terrain. This
work presents the gait model based on data-driven to address the issue of traipse ground …