Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

We present a new open-source torque-controlled legged robot system, with a low-cost and
low-complexity actuator module at its core. It consists of a high-torque brushless DC motor …

This paper presents a momentum-based control framework for floating-base robots and its
application to the humanoid robot “Atlas”. At the heart of the control framework lies a …

Rigid body dynamics is a well-established frame--work in robotics. It can be used to expose
the analytic form of kinematic and dynamic functions of the robot model. So far, two major …

Quadratic programming (QP) has become a core modelling component in the modern
engineering toolkit. This is particularly true for simulation, planning and control in robotics …

We present experimental results using a passive whole-body control approach for
quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's …

The task of robotic mobile manipulation poses several scientific challenges that need to be
addressed to execute complex manipulation tasks in unstructured environments, in which …

Planning and execution of agile locomotion maneuvers have been a longstanding
challenge in legged robotics. It requires to derive motion plans and local feedback policies …

Reinforcement learning algorithms have shown great success in solving different problems
ranging from playing video games to robotics. However, they struggle to solve delicate …