Recent technological advances in hardware design of the robotic platforms enabled the
implementation of various control modalities for improved interactions with humans and …

This article reports on the state of the art of artificial hands, discussing some of the field's
most important trends and suggesting directions for future research. We review and group …

An attached arm can significantly increase the applicability of legged robots to several
mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. The …

This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its
predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control …

This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and
dynamic motion capability. Thanks to novel, compliant joint modules with integrated …

Currently, there is an intensive development of bipedal walking robots. The most known
solutions are based on the use of the principles of human gait created in nature during …

Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps
requires systematic approaches across hardware design, motion planning, and control. In …

This paper provides a system overview about ANYmal, a quadrupedal robot developed for
operation in harsh environments. The 30 kg, 0.5 m tall robotic dog was built in a modular …

In recent years the Robot Operating System (ROS) has become the'de facto'standard
framework for robotics software development. The ros_control framework provides the …

This paper presents a novel methodology for implementing optimized jum** behavior on
quadruped robots. Our method includes efficient trajectory optimization, precise high …