Aim and Scope

Legged robots have long held the promise of navigating terrain not accessible by wheeled and tracked robots, yet demonstrating dynamically stable and agile locomotion remains a challenging task for these complex machines. Legged locomotion, which exhibits highly nonlinear dynamics coupled with discrete switching behavior, is a quintessential example of a complex dynamical system. Realizing such dynamic maneuvers requires one to face complexities inherent in legged robots in the form of highly nonlinear, underactuated dynamics and the unilateral nature of the contact. From a broader perspective, many theoretical and technical challenges in the study of legged locomotion present a unique opportunity for multiple disciplines to coalesce and make fundamental scientific contributions realizable on dynamic robotic platforms. This workshop will bring together the most recent findings from a broad range of fields in control, dynamics, and optimization for legged robotics. In doing so, participants will have the opportunity to discuss the existing challenges in legged robotics, broadening awareness of complementary approaches as well as next generation control solutions that draw and build on strengths in each area.

Topics of Interests

The topics that we would like to discuss at the workshop include but not are limited to:

  • Computationally efficient trajectory optimization
  • State estimation and sensor fusion
  • Motion and path planning with intermittent contact
  • Surface characterization of ground contacts
  • Hardware design of advanced legged machines
  • Machine learning for estimation and control

Invited Speakers