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                <desc>We present a novel method for synthesizingcollision-free, dynamic locomotion behaviors for legged robots,including jumping, going down a very steep slope, or recoveringfrom a push using the arms of the robot. The approach is au-tomatic and generic: non-gaited motions, comprising arbitrarycontact postures can be generated along any environment.At the core of our framework is a new steering methodthat generates trajectories connecting two states of the robot.These trajectories account for the state-dependent, centroidaldynamic constraints inherent to legged robots. The method,of low dimension, formulated as a Linear Program, is reallyefficient to compute, and can find an application in variousproblems related to legged locomotion.By incorporating this steering method into an existingsampling-based contact planner, we propose the first kinody-namic contact planner for legged robots.</desc>
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                <desc>This video shows the results of our planner in five different scenarios and compare it against the geometric and quasi-static version of the RB-RRT planner. Each scenarios highlights a specific property of our planner, such as obstacle avoidance in constrained environments, avoiding local minima, acyclic contact sequence with varying number of contacts. It also features two scenarios where no quasi-static solution exists : a jump and going down a steep slope.</desc>
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