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

Bipedal gait control has always been a very challenging issue due to the multi‐joint and non‐
linear structure of humanoid robots and frequent robot–environment interactions. To realise …

In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …

Low-dimensional models are ubiquitous in the bipedal robotics literature. On the one hand
is the community of researchers that bases feedback control design on pendulum models …

Quadrupeds deployed in real-world scenarios need to be robust to unmodelled dynamic
effects. In this work, we aim to increase the robustness of quadrupedal periodic forward …

We present an advanced and novel control method to enable actuated Spring Loaded
Inverted Pendulum model to walk over rough and challenging terrains. The high-level …

For legged robots, aerial motions are the only option to overpass obstacles that cannot be
circumvented with standard locomotion gaits. In these cases, the robot must perform a leap …

Animals and human often use their external appendages (such as tails or arms) to achieve
spectacular maneuverability and various agile motions, which cannot be easily realized in …

Environmental adaptability and real-time control are significant to the actual application of
biped robots. The current Spring-Loaded Inverted Pendulum (SLIP) walking exhibits the …

In this letter, a novel planned trajectory classification method (PTCM) is proposed to
evaluate the safety of the car-like four-wheeled mobile robots (4-WMRs) with Ackermann …