Abstract: This paper presents a hierarchical nonlinear control algorithm for the real-time planning and control of cooperative locomotion of legged robots that collaboratively carry objects. An innovative network of reduced-order ...

Abstract: The primary goal of this paper is to develop a formal foundation to design nonlinear feedback control algorithms that intrinsically couple legged robots with bio-inspired tails for robust locomotion in the presence of ...

Abstract: This paper aims to develop a distributed layered control framework for the navigation, planning, and control of multi-agent quadrupedal robots subject to environments with uncertain obstacles and various disturbances. At ...