Projects

Groups of publications that share conceptual ideas or belong to the same research project.

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Global footstep planning

NAS (Humanoids 2024) and CASSR (ICRA 2026)

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L1-norm minimisation for contact planning

SL1M, ICRA 2020 and RA-L 2021

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Centroidal trajectory generation as a feasibility problem

2PAC (TOG 2018), CROC (IROS 2018) and C-CROC (T-RO 2020)

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An efficient acyclic contact planner for multiped robots

T-RO 2018 and ISRR 2015