Performing agile navigation with four-legged robots is a challenging task because of the
highly dynamic motions, contacts with various parts of the robot, and the limited field of view …

Legged robots that can operate autonomously in remote and hazardous environments will
greatly increase opportunities for exploration into underexplored areas. Exteroceptive …

This article presents a novel representation-free model predictive control (RF-MPC)
framework for controlling various dynamic motions of a quadrupedal robot in three …

Legged robots have enormous potential in their range of capabilities, from navigating
unstructured terrains to high-speed running. However, designing robust controllers for highly …

The common approach for local navigation on challenging environments with legged robots
requires path planning, path following and locomotion, which usually requires a locomotion …

Robotic locomotion in unstructured terrain demands an agile, adaptive, and energy-efficient
architecture. To traverse such terrains, legged robots use rigid electromagnetic motors and …

We present a reinforcement learning (RL) framework that enables quadrupedal robots to
perform soccer goalkeeping tasks in the real world. Soccer goalkeeping with quadrupeds is …

We present CAJun, a novel hierarchical learning and control framework that enables legged
robots to jump continuously with adaptive jumping distances. CAJun consists of a high-level …

Energy losses due to various tribological phenomena pose a significant challenge to
sustainable development. These energy losses also contribute toward increased emissions …

Unlike the spherical gravitational field of planets and other large solar system bodies, the
gravitational field of asteroids is irregular and weak. It is challenging for a planetary rover to …