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 …

In this letter, we present a versatile hierarchical offline planning algorithm, along with an
online control pipeline for agile quadrupedal locomotion. Our offline planner alternates …

We tackle the problem of developing humanoid loco-manipulation skills with deep imitation
learning. The difficulty of collecting task demonstrations and training policies for humanoids …

Despite their remarkable advancement in locomotion and manipulation, humanoid robots
remain challenged by a lack of synchronized loco-manipulation control, hindering their full …

In this paper, we introduce a new teen-sized humanoid platform dubbed DRACO 3, custom-
built by Apptronik and altered for practical use by the Human Centered Robotics Laboratory …

This paper proposes an online gain adaptation approach to enhance the robustness of
whole-body control (WBC) framework for legged robots under unknown external force …

This paper proposes a novel control framework for agile and robust bipedal locomotion,
addressing model discrepancies between full-body and reduced-order models. Specifically …

Dexterous robots have great potential to execute industrial tasks that are not suited to
humans. In this work, a novel robotic mobility platform is proposed for use in the chemical …

In this work, the Divergent Component of Motion (DCM) method is expanded to include
angular coordinates for the first time. This work introduces the idea of spatial DCM, which …

Firm foot contact is the top priority of climbing robots to avoid catastrophic events, especially
when working at height. This study proposes a robust planning and control framework for …