Model predictive control (MPC) of legged and humanoid robotic systems has been an active
research topic in the past decade. While MPC for robotic systems has a long history, its …

This review comprehensively investigates the current state and emerging trends of
autonomous vehicle terrain detection and segmentation. By systematically reviewing …

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 …

Teleoperation serves as a powerful method for collecting on-robot data essential for robot
learning from demonstrations. The intuitiveness and ease of use of the teleoperation system …

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 …

We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-
source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently …

We build a system that enables any human to control a robot hand and arm, simply by
demonstrating motions with their own hand. The robot observes the human operator via a …

This paper explores the problem of collision-free motion generation for manipulators by
formulating it as a global motion optimization problem. We develop a parallel optimization …

Quadratic programming (QP) has become a core modelling component in the modern
engineering toolkit. This is particularly true for simulation, planning and control in robotics …

This paper presents a mesoscopic discrete modeling approach for studying compression
and fracture behavior of concrete. A modified piecewise linear sieve curve was proposed to …