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

This work presents a successful implementation of a nonlinear optimization-based
Regularized Predictive Control (RPC) for legged locomotion on the MIT Cheetah 3 robot …

Optimization based predictive control is a powerful tool that has improved the ability of
legged robots to execute dynamic maneuvers and traverse increasingly difficult terrains …

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 …

To dynamically traverse challenging terrain, legged robots need to continually perceive and
reason about upcoming features, adjust the locations and timings of future footfalls and …

This paper presents an estimator of external disturbances for legged robots, based on the
system's momentum. The estimator, along with a suitable motion planner for the trajectory of …

This article studies capturability and push recovery for quadruped locomotion. Despite the
rich literature on capturability analysis and push recovery for legged robots, existing tools …

Legged robots have the potential to be highly dynamic machines capable of outperforming
humans and animals in executing locomotion tasks within dangerous and unstructured …

Over the past decades, developments and scientific breakthroughs in the field of robotics
have shown the replacement of wheeled robots with legged robots, which are often inspired …

This letter proposed a control framework to tackle the hybrid locomotion problem of wheeled-
legged robots. It comes as a hierarchical structure with three layers: hybrid foot placement …