This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its
predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control …

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 …

Legged robotic technologies have moved out of the lab to operate in real environments,
characterized by a wide variety of unpredictable irregularities and disturbances, all this in …

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

Swarms of ground-based robots are presently limited to relatively simple environments,
which we attribute in part to the lack of locomotor capabilities needed to traverse complex …

This paper presents the design of the hydraulically actuated quadruped robot HyQ2Max.
HyQ2Max is an evolution of the 80 kg agile and versatile robot HyQ. Compared to HyQ, the …

We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …

Rigid body dynamics is a well-established frame--work in robotics. It can be used to expose
the analytic form of kinematic and dynamic functions of the robot model. So far, two major …

As legged robots are sent into unstructured environments, the ability to robustly manage
contact transitions will be a critical skill. This paper introduces an approach to …

This paper presents a novel methodology for implementing optimized jumping behavior on
quadruped robots. Our method includes efficient trajectory optimization, precise high …