Research
Robotics Research Publications
An open index of robotics research papers, refreshed daily.
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papers in the database
LOCOMOTION papers(24,253)
Clear ✕Learning-Based Fault Detection for Legged Robots in Remote Dynamic Environments
Abriana Stewart-Height, Seema Jahagirdar, Nikolai Matni
2026
Coupled Control, Structured Memory, and Verifiable Action in Agentic AI (SCRAT -- Stochastic Control with Retrieval and Auditable Trajectories): A Comparative Perspective from Squirrel Locomotion and Scatter-Hoarding
Maximiliano Armesto, Christophe Kolb
2026
Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
Ruturaj S. Sambhus, Yicheng Zeng, Kapi Ketan Mehta +2 more
2026
FSUNav: A Cerebrum-Cerebellum Architecture for Fast, Safe, and Universal Zero-Shot Goal-Oriented Navigation
Mingao Tan, Yiyang Li, Shanze Wang +2 more
2026
Learning Task-Invariant Properties via Dreamer: Enabling Efficient Policy Transfer for Quadruped Robots
Junyang Liang, Yuxuan Liu, Yabin Chang +5 more
2026
Learning Locomotion on Complex Terrain for Quadrupedal Robots with Foot Position Maps and Stability Rewards
Matthew Hwang, Yubin Liu, Ryo Hakoda +1 more
2026
Inverse Safety Filtering: Inferring Constraints from Safety Filters for Decentralized Coordination
Minh Nguyen, Jingqi Li, Gechen Qu +1 more
2026
From Impact to Insight: Dynamics-Aware Proprioceptive Terrain Sensing on Granular Media
Yifeng Zhang, Yue Wu, Jake Futterman +5 more
2026
A Dynamic Toolkit for Transmission Characteristics of Precision Reducers with Explicit Contact Geometry
Jiacheng Miao, Chao Liu, Qiliang Wang +2 more
2026
Collaborative Task and Path Planning for Heterogeneous Robotic Teams using Multi-Agent PPO
Matthias Rubio, Julia Richter, Hendrik Kolvenbach +1 more
2026
A Physical Imitation Learning Pipeline for Energy-Efficient Quadruped Locomotion Assisted by Parallel Elastic Joint
Huyue Ma, Yurui Jin, Helmut Hauser +1 more
2026
Phase Relationship between Spinal Motion and Limb Support Determines High-speed Running Performance in a Cheetah Model with Asymmetric Spinal Stiffness
Tomoya Kamimura, Yuya Oshita, Mau Adachi +5 more
2026
CReF: Cross-modal and Recurrent Fusion for Depth-conditioned Humanoid Locomotion
Yuan Hao, Ruiqi Yu, Shixin Luo +3 more
2026
Interacting Multiple Model Proprioceptive Odometry for Legged Robots
Wanlei Li, Zichang Chen, Shilei Li +2 more
2026
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
Leonardo Colombo, Álvaro Rodríguez Abella, Alexandre Anahory Simoes +1 more
2026
A Foldable and Agile Soft Electromagnetic Robot for Multimodal Navigation in Confined and Unstructured Environments
Zhihao Lv, Xiaoyong Zhang, Mengfan Zhang +5 more
2026
Cost-Matching Model Predictive Control for Efficient Reinforcement Learning in Humanoid Locomotion
Wenqi Cai, Kyriakos G. Vamvoudakis, Sébastien Gros +1 more
2026
Safety Guardrails in the Sky: Realizing Control Barrier Functions on the VISTA F-16 Jet
Andrew W. Singletary, Max H. Cohen, Tamas G. Molnar +1 more
2026
TerraSkipper: A Centimeter-Scale Robot for Multi-Terrain Skipping and Crawling
Shashwat Singh, Sheri Zhang, Spencer Matonis +1 more
2026
FlowRL: A Taxonomy and Modular Framework for Reinforcement Learning with Diffusion Policies
Chenxiao Gao, Edward Chen, Tianyi Chen +1 more
2026
Agent-Driven Autonomous Reinforcement Learning Research: Iterative Policy Improvement for Quadruped Locomotion
Nimesh Khandelwal, Shakti S. Gupta
2026
Design of an In-Pipe Robot with Contact-Angle-Guided Kinematic Decoupling for Crosstalk-Suppressed Locomotion
Min Yang, Yang Tian, Longchuang Li +2 more
2026
ROSClaw: An OpenClaw ROS 2 Framework for Agentic Robot Control and Interaction
Irvin Steve Cardenas, Marcus Anthony Arnett, Natalie Catherine Yeo +2 more
2026
Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running
Zachary Olkin, William D. Compton, Ryan M. Bena +1 more
2026