Dynamic Legged Systems lab

Reactive trotting with foot placement corrections through visual pattern classification (IROS'15)

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via MIP (RAL18)

On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion [IROS24]

Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots

Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation

Viscosity-based Height Reflex for Workspace Augmentation for Quadrupeds on Rough Terrain (IROS'17)

On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion

HyQReal robot - highlights 2019

On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis

A Whole-Body Controller for Rendering Impedances in Quadruped Manipulators [IROS 2022]

ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots (T-RO 23)

First Field Tests of a Legged Robot in a Vineyard - HyQReal

Robot Teleoperativo with President Mattarella

Model Predictive Control with Environment Adaptation for Legged Locomotion

Locosim: an Open-Source Cross-Platform Robotics Framework (Clawar 23)

Fast Object Visual Servoing and Grasping on Quadruped Manipulator [IROS 2023]

[ICRA'20 Presentation] Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion

Line Walking and Balancing for Legged Robots with Point Feet

PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots using MPC

A simple yet effective whole-body locomotion framework for quadruped robots

Accelerating Model Predictive Control for Legged Robots through Distributed Optimization [IROS 2024]

VERO: a Vacuum-cleaner-Equipped Quadruped RObot for Efficient Litter Removal

Reactive Landing Controller for Quadruped Robots (RA-L 23)

ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion [UR 2024]

Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots

An Efficient Paradigm For Feasibility Guarantees For Legged Robots (T-RO 23)

Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller (IROS 23)