In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. 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 …

Research into legged robotics is primarily motivated by the prospects of building machines
that are able to navigate in challenging and complex environments that are predominantly …

We describe our full body humanoid control approach developed for the simulation phase of
the DARPA Robotics Challenge (DRC), as well as the modifications made for the DARPA …

Humanoid robots have great potential to perform various human-level skills. These skills
involve locomotion, manipulation, and cognitive capabilities. Driven by advances in machine …

The development of legged robots for complex environments requires controllers that
guarantee both high tracking performance and compliance with the environment. More …

The control of a robot in its task space is a standard approach nowadays. If the system is
kinematically redundant with respect to this goal, one can even execute additional subtasks …

This paper presents the application of operational space control based on hierarchical task
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …

Centroidal dynamics, which describes the overall linear and angular motion of a robot, is
often used in locomotion generation and control of legged robots. However, the equation of …

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 …