Legged robots pose one of the greatest challenges in robotics. Dynamic and agile
maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A …

We present a single trajectory optimization formulation for legged locomotion that
automatically determines the gait sequence, step timings, footholds, swing-leg motions, and …

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

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 …

In this article, we show that learned policies can be applied to solve legged locomotion
control tasks with extensive flight phases, such as those encountered in space exploration …

In this letter, we present a whole-body nonlinear model predictive control approach for rigid
body systems subject to contacts. We use a full-dynamic system model which also includes …

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 …

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 …

Traditional motion planning approaches for multilegged locomotion divide the problem into
several stages, such as contact search and trajectory generation. However, reasoning about …

This paper presents a planning framework for jum** over obstacles with quadruped
robots. The framework accomplishes planning via a structured predictive control strategy …