Quadratic programming (QP)-based nonlinear controllers have gained increasing popularity
in the legged locomotion community. This letter presents a formal foundation to …

In robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster
environments has already been demonstrated. To ensure the safe execution of tasks by the …

Animals have the ability to move in unstructured terrain. Robotics researchers study this
ability to perform tasks in industrial, mining, oil and gas, and disaster environments …

Robôs com pernas tem potencial de locomoção em terrenos não estruturados para
execução de tarefas em ambientes industrias, de mineração, petrolífero e de desastres …

This paper presents a formal foundation, based on decomposition, hybrid zero dynamics
(HZD), and a scalable optimization, to develop distributed control algorithms for hybrid …

Multi-gait locomotion is an essential component of various quadruped robot control tasks.
However, learning multi-gait locomotion control is challenging due to the considerable …

Animais possuem a capacidade de locomoção em terrenos não estruturados. Na robótica é
estudada esta capacidade para execução de tarefas em ambientes industriais, de …