This article presents a layered control approach for real-time trajectory planning and control
of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A …

This letter addresses the problem of formally guaranteeing the stability of interconnected
systems with local controllers with a view toward stabilizing quadrupeds viewed as coupled …

Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly
effective, and configurable. In this paper, our goal is to provide similar effectiveness and …

This paper presents a hierarchical nonlinear control algorithm for the real-time planning and
control of cooperative locomotion of legged robots that collaboratively carry objects. An …

Challenges in real-world robotic applications often stem from managing multiple,
dynamically varying entities such as neighboring robots, manipulable objects, and …

Motivated towards performing missions in unstructured environments using a group of
robots, this paper presents a reinforcement learning-based strategy for multiple quadrupedal …

This dissertation aims to realize the goal of deploying legged robots that cooperatively walk
to transport objects in complex environments. More than half of the Earth's continent is …

The aim of this dissertation is to systematically construct a hierarchical framework that allows
for robust multi-agent collaborative legged locomotion. More specifically, this work provides …

Possibly one of the most significant innovations of the past decade is the hybrid zero
dynamics (HZD) framework, which formally and rigorously designs a control algorithm for …