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

Autonomous exploration of subterranean environments remains a major challenge for
robotic systems. In response, this paper contributes a novel graph‐based subterranean …

Purpose of review In recent years, legged robots locomotion has been transitioning from
mostly flat ground in controlled settings to generic indoor and outdoor environments …

This paper presents a novel strategy for autonomous teamed exploration of subterranean
environments using legged and aerial robots. Tailored to the fact that subterranean settings …

Quadrupedal robots resemble the physical ability of legged animals to walk through
unstructured terrains. However, designing a controller for quadrupedal robots poses a …

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 …

We present a fast algorithm for the design of smooth paths (or trajectories) that are
constrained to lie in a collection of axis-aligned boxes. We consider the case where the …

Traversability estimation in rugged, unstructured environments remains a challenging
problem in field robotics. Often, the need for precise, accurate traversability estimation is in …

This paper proposes a novel continuous footholds optimization method for legged robots to
expand their walking ability on complex terrains. The algorithm can efficiently run onboard …

This paper contributes a novel strategy for semantics-aware autonomous exploration and
inspection path planning. Attuned to the fact that environments that need to be explored …