A central question in robotics is how to design a control system for an agile mobile robot.
This paper studies this question systematically, focusing on a challenging setting …

Legged locomotion holds the premise of universal mobility, a critical capability for many real-
world robotic applications. Both model-based and learning-based approaches have …

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 …

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday
environments. These skills can be assessed on the basis of a system's ability to coordinate …

Achieving versatile robot locomotion requires motor skills that can adapt to previously
unseen situations. We propose a multi-expert learning architecture (MELA) that learns to …

Dynamic legged locomotion is a challenging topic because of the lack of established control
schemes which can handle aerial phases, short stance times, and high-speed leg swings. In …

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

In this letter, we propose a whole-body planning framework that unifies dynamic locomotion
and manipulation tasks by formulating a single multi-contact optimal control problem. We …

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 …