3 accepted papers
Multi-robot systems are becoming increasingly popular in warehouses and factories, since they potentially enable the development of more versatile and robust systems than single robots. Multiple robots allow performing complex tasks with greater efficiency. However, this leads to increased complexit
Embedding elastic elements into legged robots through mechanical design enables highly efficient oscillating patterns that resemble natural gaits. However, current trajectory planning techniques miss the opportunity of taking advantage of these natural motions. This work proposes a locomotion planni…
In this letter, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected inverse dynamic control for robust motion tracking. In our proposed planning and control framework, foothold plans are