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

Agile maneuvers such as sprinting and high-speed turning in the wild are challenging for
legged robots. We present an end-to-end learned controller that achieves record agility for …

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 …

With their unique point‐contact ability with the ground and exceptional adaptability to
complex terrains, quadruped robots have become a focal point in the fields of automation …

Robots are traditionally bound by a fixed morphology during their operational lifetime, which
is limited to adapting only their control strategies. Here we present the first quadrupedal …

Re-planning in legged locomotion is crucial to track the desired user velocity while adapting
to the terrain and rejecting external disturbances. In this work, we propose and test in …

Agile-legged robots have proven to be highly effective in navigating and performing tasks in
complex and challenging environments, including disaster zones and industrial settings …

Non-geometric hazards like sinkage and slipping, correlated to terrain categories, have an
apparent effect on the locomotion of legged robots. Tactile-based terrain classification is a …

This letter presents a novel contact-implicit trajectory optimization method using an
analytically solvable contact model to enable planning of interactions with hard, soft, and …

This article focuses on vision-based planning strategies for legged robots that separate
locomotion planning into foothold selection and pose adaptation. Current pose adaptation …