The use of simulators in robotics research is widespread, underpinning the majority of recent
advances in the field. There are now more options available to researchers than ever before …

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

Legged locomotion is a complex control problem that requires both accuracy and
robustness to cope with real-world challenges. Legged systems have traditionally been …

This paper presents an implementation of model predictive control (MPC) to determine
ground reaction forces for a torque-controlled quadruped robot. The robot dynamics are …

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 …

Achieving versatile robot locomotion requires motor skills that can adapt to previously
unseen situations. We propose a multi-expert learning architecture (MELA) that learns to …

In this letter, we propose a whole-body planning framework that unifies dynamic locomotion
and manipulation tasks by formulating a single multi-contact optimal control problem. We …

We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-
source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently …

Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …

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 …