With the advance of smart material science, robotics is evolving from rigid robots to soft
robots. Compared to rigid robots, soft robots can safely interact with the environment, easily …

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 …

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 …

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

We present a new open-source torque-controlled legged robot system, with a low-cost and
low-complexity actuator module at its core. It consists of a high-torque brushless DC motor …

We introduce Pinocchio, an open-source software framework that implements rigid body
dynamics algorithms and their analytical derivatives. Pinocchio does not only include …

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 …

We present a unified model-based and data-driven approach for quadrupedal planning and
control to achieve dynamic locomotion over uneven terrain. We utilize on-board …

Rigid body dynamics is a well-established frame--work in robotics. It can be used to expose
the analytic form of kinematic and dynamic functions of the robot model. So far, two major …

We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus
manufacturing use-case demonstrator. We share experimental knowledge gathered so as to …