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Recent Progress in Legged Robots Locomotion Control

Justin Carpentier 1 Pierre-Brice Wieber 2
1 WILLOW - Models of visual object recognition and scene understanding
DI-ENS - Département d'informatique de l'École normale supérieure, Inria de Paris
Abstract : Purpose of review. In recent years, legged robots locomotion has been transitioning from mostly flat ground in controlled settings to generic indoor and outdoor environments, approaching now real industrial scenarios. This paper aims at documenting some of the key progress made in legged locomotion control that enabled this transition. Recent findings. Legged locomotion control makes extensive use of numerical trajectory optimization and its online implementation, Model Predictive Control. A key progress has been how this optimization is handled, with refined models and refined numerical methods. This led the legged locomotion research community to heavily invest in and contribute to the development of new optimization methods and efficient numerical software.
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Contributor : Pierre-Brice Wieber <>
Submitted on : Friday, April 9, 2021 - 10:33:39 AM
Last modification on : Tuesday, May 4, 2021 - 2:06:03 PM


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  • HAL Id : hal-03193886, version 1



Justin Carpentier, Pierre-Brice Wieber. Recent Progress in Legged Robots Locomotion Control. Current Robotics Reports, In press, pp.1-16. ⟨hal-03193886⟩



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