locomotion humanoid locomotion Generic and dynamic locomotion control for humanoid robots across discrete terrains, including whole-body soccer kicking. reactive collision-free locomotion Integrating Riemannian Motion Policies with whole-body control for collision-free dynamic legged locomotion. hardware robots with actuated toes StaccaToe and PresToe explore how actuated toes, co-actuation, and non-collocation enable dynamic legged locomotion. high-performance actuators SLAD cycloidal actuators designed for compact, high-torque, dynamic legged robots. perception guide-dog robot Human-centered quadruped mobility assistance for blind and low-vision travelers. rapid perception and localization Event-camera visual odometry and state estimation for highly dynamic legged robots.
