Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday
environments. These skills can be assessed on the basis of a system's ability to coordinate …

In this letter, we propose a whole-body planning framework that unifies dynamic locomotion
and manipulation tasks by formulating a single multi-contact optimal control problem. We …

We introduce Crocoddyl (Contact RObot COntrol by Differential DYnamic Library), an open-
source framework tailored for efficient multi-contact optimal control. Crocoddyl efficiently …

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

We present a unified model-based and data-driven approach for quadrupedal planning and
control to achieve dynamic locomotion over uneven terrain. We utilize on-board …

We focus on the problem of developing energy efficient controllers for quadrupedal robots.
Animals can actively switch gaits at different speeds to lower their energy consumption. In …

Indoor service robots have been widely introduced in the fields of cleaning, delivery,
education, guidance, and healthcare, etc. in indoor environments. The mobility of an indoor …

We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the
advantages of both walking and driving. The developed optimization framework tightly …

This letter presents a realtime motion planning and control method that enables a
quadrupedal robot to execute dynamic gaits including trot, pace, and dynamic lateral walk …

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 …