In this work, we present DiPPeR, a novel and fast 2D path planning framework for
quadrupedal locomotion, leveraging diffusion-driven techniques. Our contributions include a …

One of the most interesting and pressing challenges in the study on biped humanoid robots
is to achieve high robustness in locomotion. This paper presents a brief overview of work …

The robustness of biped walking in unknown and uneven terrains is still a major challenge
in research. Traversing such environments is usually solved through vision-based reasoning …

Planning multicontact motions in a receding horizon fashion requires a value function to
guide the planning with respect to the future, eg, building momentum to traverse large …

Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in
scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper …

Tactile sensing on human feet is crucial for motion control, however, has not been explored
in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's …

Legged and wheeled locomotion are two standard methods used by robots to perform
navigation. Combining them to create a hybrid legged-wheeled locomotion results in …

Bipedal robots have gained a lot of locomotion capabilities the past few years, especially in
the control level. Navigation over complex and unstructured environments using …

Human bipedal balance during standing and walking depends on several receptors
including the cutaneous receptors in the glabrous skin of the foot sole. It has been shown in …

This work introduces a new sensing system for biped robots based on plantar robot skin,
which provides not only the resultant forces applied on the ankles but a precise shape of the …