In recent years, quadruped mobile robots' development had experienced rapid progress,
which has subsequently increased their usage in many human-assisted applications …

Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring
precise eye-muscle coordination and movement. Getting robots to do the same task requires …

Animals are capable of precise and agile locomotion using vision. Replicating this ability
has been a long-standing goal in robotics. The traditional approach has been to decompose …

Legged robots that can operate autonomously in remote and hazardous environments will
greatly increase opportunities for exploration into underexplored areas. Exteroceptive …

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

Legged locomotion is a complex control problem that requires both accuracy and
robustness to cope with real-world challenges. Legged systems have traditionally been …

Legged robots have the potential to expand the reach of autonomy beyond paved roads. In
this work, we consider the difficult problem of locomotion on challenging terrains using a …

Legged robotic technologies have moved out of the lab to operate in real environments,
characterized by a wide variety of unpredictable irregularities and disturbances, all this in …

Robotic technologies, whether they are remotely operated vehicles, autonomous agents,
assistive devices, or novel control interfaces, offer many promising capabilities for …

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