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 …

This article presents a novel representation-free model predictive control (RF-MPC)
framework for controlling various dynamic motions of a quadrupedal robot in three …

Model predictive control (MPC) of legged and humanoid robotic systems has been an active
research topic in the past decade. While MPC for robotic systems has a long history, its …

With their unique point‐contact ability with the ground and exceptional adaptability to
complex terrains, quadruped robots have become a focal point in the fields of automation …

This work investigates a data-driven template model for trajectory planning of dynamic
quadrupedal robots. Many state-of-the-art approaches involve using a reduced-order model …

Template-based reduced-order models have provided a popular methodology for real-time
trajectory planning of dynamic quadrupedal locomotion. However, the abstraction and …

This work presents a two part framework for online planning and execution of dynamic aerial
motions on a quadruped robot. Motions are planned via a centroidal momentum-based …

This article presents a layered control approach for real-time trajectory planning and control
of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A …

This paper proposes a novel non-singular fast terminal sliding control technique for
underactuated robotic manipulators. The proposed approach combines the robustness …

Virtual model control is a motion control framework that uses virtual components to create
virtual forces/torques, which are actually generated by joint actuators when the virtual …