Dynamic Legged Systems lab

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83 videos

This is the official channel of the Dynamic Legged Systems (DLS) lab of the Istituto Italiano di Tecnologia (IIT). The DLS lab specializes in the design and ...

Latest Videos

Towards Proprioceptive Mapping with Quadruped Robots for Exploration in Planetary Shadowed Region

Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots (RA-L, 2025)

Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain (RA-L, 2025)

MUSE A Real-Time Multi-Sensor State Estimator for Quadruped Robots (RA-L, 2025)

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing

IIT-INAIL Robot Teleoperativo 2

Non-Gaited Legged Locomotion with Monte-Carlo Tree Search and Supervised Learning (RA-L 25)

PACC A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots using MPC

On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion [IROS24]

Accelerating Model Predictive Control for Legged Robots through Distributed Optimization [IROS 2024]

VERO a Vacuum-cleaner-Equipped Quadruped RObot for Efficient Litter Removal

Panoptic-SLAM Visual SLAM in Dynamic Environments using Panoptic Segmentation

On discrete symmetries of robotics systems A group-theoretic and data-driven analysis

ContactNet Online Multi-Contact Planning for Acyclic Legged Robot Locomotion [UR 2024]

SafeSteps Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors

Reactive Landing Controller for Quadruped Robots (RA-L 23)

Locosim an Open-Source Cross-Platform Robotics Framework (Clawar 23)

Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller (IROS 23)

Fast Object Visual Servoing and Grasping on Quadruped Manipulator [IROS 2023]

ViTAL Vision-Based Terrain-Aware Locomotion for Legged Robots (T-RO 23)

An Efficient Paradigm For Feasibility Guarantees For Legged Robots (T-RO 23)

Orientation Control System Enhancing Aerial Maneuvers for Quadruped Robots

Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots

Robot Teleoperativo with President Mattarella

A Whole-Body Controller for Rendering Impedances in Quadruped Manipulators [IROS 2022]

First Field Tests of a Legged Robot in a Vineyard - HyQReal

Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots

Model Predictive Control with Environment Adaptation for Legged Locomotion

A simple yet effective whole-body locomotion framework for quadruped robots

Line Walking and Balancing for Legged Robots with Point Feet