Recent technological advances have made a myriad of soft and flexible electronic devices
possible. The essential materials behind many of these devices and systems are electrical …

This survey presents the state of the art of basic compliant control algorithms in a unified
view of past and present literature. Compliant control is fundamental when dealing with …

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

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 …

In this work, we present WALK‐MAN, a humanoid platform that has been developed to
operate in realistic unstructured environment, and demonstrate new skills including powerful …

Developing control policies in simulation is often more practical and safer than directly
running experiments in the real world. This applies to policies obtained from planning and …

In December 2013, 16 teams from around the world gathered at Homestead Speedway near
Miami, FL to participate in the DARPA Robotics Challenge (DRC) Trials, an aggressive …

There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …

The upcoming generation of humanoid robots will have to be equipped with state-of-the-art
technical features along with high industrial quality, but they should also offer the prospect of …