In recent years, quadruped mobile robots' development had experienced rapid progress,
which has subsequently increased their usage in many human-assisted applications …

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

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 …

In this letter, we propose a whole-body planning framework that unifies dynamic locomotion
and manipulation tasks by formulating a single multi-contact optimal control problem. We …

Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …

We present a unified model-based and data-driven approach for quadrupedal planning and
control to achieve dynamic locomotion over uneven terrain. We utilize on-board …

Online planning of whole-body motions for legged robots is challenging due to the inherent
nonlinearity in the robot dynamics. In this work, we propose a nonlinear model predictive …

Reinforcement Learning (RL) has seen many recent successes for quadruped robot control.
The imitation of reference motions provides a simple and powerful prior for guiding solutions …

Planning and execution of agile locomotion maneuvers have been a longstanding
challenge in legged robotics. It requires to derive motion plans and local feedback policies …

We present a hierarchical framework that combines model-based control and reinforcement
learning (RL) to synthesize robust controllers for a quadruped (the Unitree Laikago). The …