Autonomous wheeled-legged robots have the potential to transform logistics systems,
improving operational efficiency and adaptability in urban environments. Navigating urban …

The incessant progress of robotic technology and rationalization of human manpower
induces high expectations in society, but also resentment and even fear. In this paper, we …

We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …

Model predictive control (MPC) of legged and humanoid robotic systems has been an active
research topic in the past decade. While MPC for robotic systems has a long history, its …

Reinforcement learning (RL) has emerged as a powerful approach for locomotion control of
highly articulated robotic systems. However, one major challenge is the tedious process of …

This paper presents the design and control of Q‐Whex, an untethered, quasi‐wheeled
hexapod robot. Q‐Whex has only six actuators—one motor located at each hip—achieving …

Mobile robots with multi locomotion modes have excellent terrain adaptability. However,
traditional multi-locomotion mobile robots are usually actuated by a large number of motors …

Differential Dynamic Programming (DDP) is an efficient computational tool for solving
nonlinear optimal control problems. It was originally designed as a single shooting method …

Scientific exploration of planetary bodies is an activity well-suited for robots. Unfortunately,
the regions that are richer in potential discoveries, such as impact craters, caves, and …

The community in legged robotics focuses on bio-inspired robots, although there are some
human inventions that nature could not recreate. One of the most significant examples is the …