Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the
use of efficient, gradient-based optimization algorithms to find the simulation parameters that …

Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …

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 …

Robotic cutting of soft materials is critical for applications such as food processing,
household automation, and surgical manipulation. As in other areas of robotics, simulators …

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 …

The computational design of soft underwater swimmers is challenging because of the high
degrees of freedom in soft-body modeling. In this paper, we present a differentiable pipeline …

Planning and execution of agile locomotion maneuvers have been a longstanding
challenge in legged robotics. It requires to derive motion plans and local feedback policies …

We present a novel control strategy for dynamic legged locomotion in complex scenarios
that considers information about the morphology of the terrain in contexts when only on …

Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile
platform and dexterity afforded by the manipulator. In this letter, we present a whole-body …

Algorithmic differentiation (AD) is an alternative to finite differences (FD) for evaluating
function derivatives. The primary aim of this study was to demonstrate the computational …