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06/17/2022
Prototyping fast and agile motions for legged robots with Horizon
For legged robots to perform agile, highly dynamic and contact-rich moti...
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05/20/2022
Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies
The deployment of robots within realistic environments requires the capa...
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05/13/2022
WoLF: the Whole-body Locomotion Framework for Quadruped Robots
The Whole-Body Locomotion Framework (WoLF) is an end-to-end software sui...
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07/15/2021
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion
Hybrid wheeled-legged locomotion is a navigation paradigm only recently ...
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03/12/2021
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach
The kinematic features of a centaur-type humanoid platform, combined wit...
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09/19/2019