Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring
precise eye-muscle coordination and movement. Getting robots to do the same task requires …

Animals are capable of precise and agile locomotion using vision. Replicating this ability
has been a long-standing goal in robotics. The traditional approach has been to decompose …

An attached arm can significantly increase the applicability of legged robots to several
mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. The …

Legged robots have the potential to expand the reach of autonomy beyond paved roads. In
this work, we consider the difficult problem of locomotion on challenging terrains using a …

We exploit the complementary strengths of vision and proprioception to develop a point-goal
navigation system for legged robots, called VP-Nav. Legged systems are capable of …

The common approach for local navigation on challenging environments with legged robots
requires path planning, path following and locomotion, which usually requires a locomotion …

The next generation of autonomous-legged robots will herald a new era in the fields of
manufacturing, healthcare, terrain exploration, and surveillance. We can expect significant …

We present a framework for learning visually-guided quadruped locomotion by integrating
exteroceptive sensing and central pattern generators (CPGs), ie systems of coupled …

Reinforcement learning (RL) has become a promising approach to developing controllers
for quadrupedal robots. Conventionally, an RL design for locomotion follows a position …

Robust locomotion control depends on accurate state estimations. However, the sensors of
most legged robots can only provide partial and noisy observations, making the estimation …