Legged locomotion holds the premise of universal mobility, a critical capability for many real-
world robotic applications. Both model-based and learning-based approaches have …

Natural lifeforms specialize to their environmental niches across many levels, from low-level
features such as DNA and proteins, through to higher-level artefacts including eyes, limbs …

We present a contact planner for complex legged locomotion tasks: standing up, climbing
stairs using a handrail, crossing rubble, and getting out of a car. The need for such a planner …

Abstract Purpose of Review As new technological advancements are made, humanoid
robots that utilise them are being designed and manufactured. For optimal design choices, a …

The high probability of hardware failures prevents many advanced robots (eg, legged
robots) from being confidently deployed in real-world situations (eg, post-disaster rescue) …

Animals are much better at running than robots. The difference in performance arises in the
important dimensions of agility, range, and robustness. To understand the underlying …

Deploying robots in open-ended unstructured environments such as homes has been a long-
standing research problem. However, robots are often studied only in closed-off lab settings …

Automated industries lead to high quality production, lower manufacturing cost and better
utilization of human resources. Robotic manipulator arms have major role in the automation …

This paper presents a holistic overview of robotics and autonomous systems developed for
applications in harsh environments where interactions with robots are difficult to model due …

In this paper, we consider the problem of generating appropriate motions for a torque-
controlled humanoid robot that is assigned a multi-contact loco-manipulation task, ie, a task …