Autonomous Mobile Manipulation with Legged Robots
Coupling of deliberative, reactive and gait layers for task execution with legged robots.
Reactive Navigation in Non-Convex Environments
Integration of offline and online information for real-time execution of a provably correct navigation algorithm.
Legged Locomotion on Compliant Terrains
Underactuated hopping on deformable terrains with the development of a controller immune to terrain compliance.