Navigation planning for legged robots has distinct challenges compared to wheeled and
tracked systems due to the ability to lift legs off the ground and step over obstacles. While …

Dynamic jum** with legged robots poses a challenging problem in planning and control.
Formulating the jump optimization to allow fast online execution is difficult; efficiently using …

We tackle the transition feasibility problem, that is the issue of determining whether there
exists a feasible motion connecting two configurations of a legged robot. To achieve this we …

This work presents a motion planning algorithm for legged robots capable of constructing
long-horizon dynamic plans in real-time. Many existing methods use models that prohibit …

One of the main challenges of planning legged locomotion in complex environments is the
combinatorial contact selection problem. Recent contributions propose to use integer …

Humanoid robots dynamically navigate an environment by interacting with it via contact
wrenches exerted at intermittent contact poses. Therefore, it is important to consider …

Safe quadrupedal navigation through unknown environments is a challenging problem. This
paper proposes a hierarchical vision-based planning framework (GPF-BG) integrating our …

This work introduces a formulation of model predictive control (MPC) which adaptively
reasons about the complexity of the model while maintaining feasibility and stability …

One challenge of legged locomotion on uneven terrains is to deal with both the discrete
problem of selecting a contact surface for each footstep and the continuous problem of …

Despite the great progress in quadrupedal robotics during the last decade, selecting good
contacts (footholds) in highly uneven and cluttered environments still remains an open …