Animals exhibit remarkable locomotion capabilities across land, sea, and air in every corner
of the world. On land, legged morphologies have evolved to manifest magnificent mobility …

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

This paper presents the design of the hydraulically actuated quadruped robot HyQ2Max.
HyQ2Max is an evolution of the 80 kg agile and versatile robot HyQ. Compared to HyQ, the …

This paper presents the design and implementation of a bounding controller for the MIT
Cheetah 2 and its experimental results. The paper introduces the architecture of the …

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 …

Robots with legs and arms have the potential to support humans in dangerous, dull or dirty
tasks. A major motivation behind research on such robots is their potential versatility …

Traversing rough terrains is one of the domains where multi-legged walking robots benefit
from their relatively more complex kinematics in comparison to wheeled robots. The …

We present a framework for dynamic quadrupedal locomotion over challenging terrain,
where the choice of appropriate footholds is crucial for the success of the behaviour. We …

This letter combines the fast zero-moment-point approaches that work well in practice with
the broader range of capabilities of a trajectory optimization formulation, by optimizing over …

We present a trajectory optimization framework for legged locomotion on rough terrain. We
jointly optimize the center of mass motion and the foothold locations, while considering …