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07/24/2023
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
We present a footstep planning policy for quadrupedal locomotion that is...
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07/20/2022
Governor: a Reference Generator for Nonlinear Model Predictive Control in Legged Robots
Model Predictive Control (MPC) approaches are widely used in robotics, s...
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07/02/2020
Line Walking and Balancing for Legged Robots with Point Feet
The ability of legged systems to traverse highly-constrained environment...
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03/11/2020
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
Planning whole-body motions while taking into account the terrain condit...
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10/15/2019
On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics
We propose two feasibility constraints to be included in a Single Rigid ...
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11/03/2018
