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 …

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 …

Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through
a robot-centric visual unit, appears partially occluded and noisy. This article presents the …

Our paper proposes a model predictive controller as a single-task formulation that
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …

Wheeled-legged robots are an attractive solution for versatile locomotion in challenging
terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse …

Re-planning in legged locomotion is crucial to track the desired user velocity while adapting
to the terrain and rejecting external disturbances. In this work, we propose and test in …

This article presents a hybrid motion planning and control approach applicable to various
ground robot types and morphologies. Our two-step approach uses a sampling-based …

To dynamically traverse challenging terrain, legged robots need to continually perceive and
reason about upcoming features, adjust the locations and timings of future footfalls and …

We present a control architecture for real-time adaptation and tracking of trajectories
generated using a terrain-aware trajectory optimization solver. This approach enables us to …