A central question in robotics is how to design a control system for an agile mobile robot.
This paper studies this question systematically, focusing on a challenging setting …

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

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 …

Autonomous wheeled-legged robots have the potential to transform logistics systems,
improving operational efficiency and adaptability in urban environments. Navigating urban …

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 …

This article presents a hybrid motion planning and control approach applicable to various
ground robot types and morphologies. Our two-step approach uses a sampling-based …

Multi-legged robots: progress and challenges | National Science Review | Oxford Academic
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This paper addresses the challenging task of implementing dynamic jumping motions for
biped wheel-legged robots, a motion mode that significantly enhances their mobility and …

Generating dynamic jumping motions on legged robots remains a challenging control
problem as the full flight phase and large landing impact are expected. Compared to …

Recent years have seen a steady rise in the abilities of wheeled-legged balancing robots.
Yet, their use is still severely restricted by the lack of efficient control algorithms for …