I worked on methods for planning and control of a six legged robot called the RDK pictured below.
Planning to Account for Uncertainty in Dynamics
The robot plans a path from its current location to the goal using the ARA* algorithm using an experimentally determined set of motion primitives. The planner accounts for uncertainty in dynamics and is able to explicitly tradeoff speed for safety. See the paper presented at ICRA 2010 for more details. PDF