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

Legged locomotion can extend the operational domain of robots to some of the most
challenging environments on Earth. However, conventional controllers for legged …

Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-
world environments. Thus, it is useful to have systems that do not depend on accurate …

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 …

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

Swarms of ground-based robots are presently limited to relatively simple environments,
which we attribute in part to the lack of locomotor capabilities needed to traverse complex …

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 …

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 …

This paper presents a planning framework for jumping over obstacles with quadruped
robots. The framework accomplishes planning via a structured predictive control strategy …

Our paper proposes a model predictive controller as a single-task formulation that
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …