Legged locomotion

Legged locomotion illustration

We are fascinated by movements, especially locomotion behaviors. Beyond this interest, robots with legs open a wide range of potential applications as they can move on complicated environments, whether with clutter, obstacles or holes. A major axis of research in our laboratory is concerned with the design of general purpose algorithms to endow robots with any number of legs with the ability to walk, run, jump and climb across any type of unknown terrains.




Videos

Selected publications

  1. A. Meduri, P. Shah, J. Viereck, M. Khadiv, I. Havoutis, L. Righetti, "BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning," IEEE Transactions on Robotics, pp. 1–18, 2023.
  2. M. Bogdanovic, M. Khadiv, L. Righetti, "Model-free Reinforcement Learning for Robust Locomotion using Demonstrations from Trajectory Optimization," Frontiers in Robotics and AI, 2022.
  3. B. Hammoud, L. Oliveri, L. Righetti, J. Carpentier, A. Del Prete, "Exponential Integration for Efficient and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts," Multibody System Dynamics, vol. 54, pp. 443–460, Apr, 2022.
  4. J. Viereck, A. Meduri, L. Righetti, "ValueNetQP: Learned one-step optimal control for legged locomotion," in Proceedings of The 4th Annual Learning for Dynamics and Control Conference, pp. 931–942, Jun, 2022.
  5. M. H. Yeganegi, M. Khadiv, A. Del Prete, S. A. A. Moosavian, L. Righetti, "Robust walking based on MPC with viability-based feasibility guarantees," IEEE Transactions on Robotics, vol. 38, no. 4, pp. 2389–2404, 2022.
  6. J. Viereck, L. Righetti, "Learning a Centroidal Motion Planner for Legged Locomotion," in 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2021.
  7. E. Daneshmand, M. Khadiv, F. Grimminger, L. Righetti, "Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control," IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2349–2356, Apr, 2021.
  8. B. Ponton, M. Khadiv, A. Meduri, L. Righetti, "Efficient Multi-Contact Pattern Generation with Sequential Convex Approximations of the Centroidal Dynamics," IEEE Transactions on Robotics, vol. 37, no. 5, pp. 1661–1679, Feb, 2021.
  9. B. Hammoud, M. Khadiv, L. Righetti, "Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control," IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4766–4773, Jul, 2021.
  10. A. Meduri, M. Khadiv, L. Righetti, "DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain," in 2021 IEEE-RAS International Conference on Robotics and Automation (ICRA), May, 2021.
  11. M. Khadiv, A. Herzog, S. A. A. Moosavian, L. Righetti, "Walking Control Based on Step Timing Adaptation," IEEE Transactions on Robotics, vol. 36, no. 3, pp. 629–643, Apr, 2020.
  12. F. Grimminger, A. Meduri, M. Khadiv, J. Viereck, M. Wüthrich, M. Naveau, V. Berenz, S. Heim, F. Widmaier, T. Flayols, J. Fiene, A. Badri-Spröwitz, L. Righetti, "An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research," IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3655–3662, Apr, 2020.
  13. A. Herzog, N. Rotella, S. Mason, F. Grimminger, S. Schaal, L. Righetti, "Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid," Autonomous Robots, vol. 40, no. 3, pp. 473–491, Mar, 2016.