Recent Progress in Legged Robots Locomotion Control

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 control that enabled this transition. Legged makes extensive use numerical trajectory optimization its online implementation, model predictive control. A how is handled, with refined models methods. led research community heavily invest contribute development new methods efficient software. We present an overview typical approach control, which involves primarily planning a sequence contacts environment computing corresponding dynamically feasible Center Mass robot. then detail contact either full Lagrangian dynamics or reduced models.