Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb
amputations. While the design of lower-limb prostheses is important, this paper focuses on …

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

In this paper, we extend the concept of control barrier functions, developed initially for
continuous time systems, to the discrete-time domain. We demonstrate safety-critical control …

The Cassie bipedal robot designed by Agility Robotics is providing academics with a
common platform for sharing and comparing algorithms for locomotion, perception, and …

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 …

Bipedal locomotion skills are challenging to develop. Control strategies often use local
linearization of the dynamics in conjunction with reduced-order abstractions to yield …

We exploit the complementary strengths of vision and proprioception to develop a point-goal
navigation system for legged robots, called VP-Nav. Legged systems are capable of …

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 …

In this paper, a hierarchical and robust framework for learning bipedal locomotion is
presented and successfully implemented on the 3D biped robot Digit built by Agility …