… We presented in this paper a method to solve different footstep planning problems for
legged robots via continuous motion planning, using the notion of weak-collision-freeness. A …

… to legged locomotion control, which involves primarily planning a … We then detail recent
progress in contact planning and … the continuous time dynamics Eqs. 1–2: the dynamics of …

… We focus on planning locomotion when multiple controllers and … a legged locomotion planning
architecture that plans the use of … from a continuous space. [9] applied a sampling-based …

… framework for optimal planning and control of legged robots. … switching times and the optimal
continuous control inputs. Through … Finally, we present a continuous-time constrained LQR …

… of this work involves locomotion planning on a wheeled-legged robot to perform dynamic …
a MPC fashion, ie, the optimization is continuously re-evaluated providing a motion over a time …

… Monte-Carlo planning as a novel and compelling approach to agile legged locomotion. A …
Note that for the action space of this paper, this rollout policy corresponds to the continued …

… quadruped, and a legged excavator. We validate our hybrid locomotion planner in the real
world … The results show that computing and executing hybrid locomotion plans is possible on …

… ZMP based motion planner which continuously updates the reference motion trajectory as
a function of the contact schedule and the state of the robot. The planner is coupled with a …

… planning and control framework for locomotion over uneven terrain. We propose a footstep
… in (16) and (17), we continuously push new state transition tuples to the SAC replay buffer …

… evolution of legged robots during walking and running include both discrete and continuous
… mechanics describe the evolution of legged robots during continuous phases of locomotion. …