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 …

Robotic technologies, whether they are remotely operated vehicles, autonomous agents,
assistive devices, or novel control interfaces, offer many promising capabilities for …

A milestone in vertebrate evolution, the transition from water to land, owes its success to the
development of a sprawling body plan that enabled an amphibious lifestyle. The body …

We focus on the problem of develo** energy efficient controllers for quadrupedal robots.
Animals can actively switch gaits at different speeds to lower their energy consumption. In …

In early 2016, we had the opportunity to test a pair of sprawling posture robots, one
designed to mimic a crocodile and another designed to mimic a monitor lizard, along the …

Re-planning in legged locomotion is crucial to track the desired user velocity while adapting
to the terrain and rejecting external disturbances. In this work, we propose and test in …

Robotic creatures are capable of entering hazardous environments instead of human
workers, but it is challenging to develop a fully autonomous agent that can work …

In this letter, we present a novel method for the design of central pattern generator (CPG)
model, and then utilize it to control a salamander-like robot. The CPG network is composed …

Quadruped robots must exhibit robust walking capabilities in practical applications. In this
work, we propose a novel approach that enables quadruped robots to pass various small …

The quadruped robot has the advantage of having a high degree of freedom of motion.
Therefore, it has been used in various robot applications such as exploration. However, the …