Legged locomotion

Optimization-Based Control for Dynamic Legged Robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from …
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Cite DOI arXiv
Optimization-Based Control for Dynamic Legged Robots
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from …
Patrick M. Wensing, Michael Posa, Yue Hu, Adrien Escande, Nicolas Mansard, Andrea Del Prete
Cite DOI arXiv
Optimization-Based Control for Dynamic Legged Robots
An Efficient Acyclic Contact Planner for Multiped Robots
We present a framework capable of producing contact plans describing complex multiped motions (including humanoid): standing up, …
Steve Tonneau, Andrea Del Prete, Julien Pettre, Chonhyon Park, Dinesh Manocha, Nicolas Mansard
Cite DOI arXiv