Safe quadrupedal navigation through unknown environments is a challenging problem. This
paper proposes a hierarchical vision-based planning framework (GPF-BG) integrating our …

This paper studies real-time motion planning and control for ball bumping motion with
quadruped robots. To enable the quadruped to bump the flying ball with different …

Despite considerable advancements in recent years, legged robots still fall short in terms of
agility when compared to their animal counterparts. This thesis takes a two-pronged …