Gaits and transitions are key components in legged locomotion. For legged robots,
describing and reproducing gaits as well as transitions remain longstanding challenges …

Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through
a robot-centric visual unit, appears partially occluded and noisy. This article presents the …

A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in
unmapped environments with dynamic obstacles. Autonomous interactions in such …

In this work, we show how to learn a visual walking policy that only uses a monocular RGB
camera and proprioception. Since simulating RGB is hard, we necessarily have to learn …

In this paper, we present a real-time whole-body planner for collision-free legged mobile
manipulation. We enforce both self-collision and environment-collision avoidance as soft …

This article considers quadruped locomotion control in the presence of uncertainties. Two
types of structured uncertainties are considered, namely, uncertain friction constraints and …

To achieve successful field autonomy, mobile robots need to freely adapt to changes in their
environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often …

Legged robots navigating cluttered environments must be jointly agile for efficient task
execution and safe to avoid collisions with obstacles or humans. Existing studies either …

In modern industrial environments, robots are expected to work close to human operators
collaborating with them in completing various tasks, eg, collaborative assembly or delivery of …

With the rapid development of robot perception and planning technology, robots are
gradually getting rid of fixed fences and working closely with humans in a shared …