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.