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 …

This paper investigates the connection between non-prehensile manipulation, specifically
juggling, and legged locomotion, focusing on biped robots. In this direction, the hybrid …

Maintaining a stable trunk while driving over rough terrain is a challenging issue for a multi-
wheel-leg mobile robot, since the control coupling between the legs and the trunk has a …

Control policies trained using deep reinforcement learning often generate stiff, high-
frequency motions in response to unexpected disturbances. To promote more natural and …

This paper tackles the problem of nonprehensile object transportation through a legged
manipulator. A whole-body control architecture is devised to prevent sliding of the object …

Robots equipped with legs have significant potential for real-world applications. Many
industries, including those concerned with instruction, aid, security, and surveillance, have …

For biomimetic robots to be used in the real world, it is very important to have animal-like
turning motion. Excellent turning ability can help quadruped robots navigate more complex …

Quadruped robots have garnered significant attention in recent years due to their ability to
navigate through challenging terrains. Among the various environments, agriculture fields …

The quadruped robot has a strong motion performance and broad application prospects in
practical applications. However, during the movement of the quadruped robot, it is easy to …

To safely deploy legged robots in the real world it is necessary to provide them with the
ability to reliably detect unexpected contacts and accurately estimate the corresponding …