We present a single trajectory optimization formulation for legged locomotion that
automatically determines the gait sequence, step timings, footholds, swing-leg motions, and …

Legged machines have the potential to traverse terrain that wheeled robots cannot. These
capabilities are useful in scenarios such as stairs in homes or debris-filled disaster scenes …

Switching physical systems are ubiquitous in modern control applications, for instance,
locomotion behavior of robots and animals, power converters with switches and diodes. The …

En este proyecto se ha investigado y analizado el impacto de diferentes gravedades en la
planificación y seguimiento de trayectorias en un robot cuadrúpedo, en concreto, el robot …