Research
Robotics Research Publications
An open index of robotics research papers, refreshed daily.
papers in the database
LOCOMOTION papers(1,239)
Clear ✕Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
Tomoya Kamimura, Haruka Washiyama, Akihito Sano
2026
BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
Patrick Pfreundschuh, Turcan Tuna, Cedric Le Gentil +3 more
2026
CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots
Kartikeya Singh, Youngjin Kim, Yash Turkar +1 more
2026
Stability Principle Underlying Passive Dynamic Walking of Rimless Wheel
Fumihiko Asano
2026
Synthesis and Deployment of Maximal Robust Control Barrier Functions through Adversarial Reinforcement Learning
Donggeon David Oh, Duy P. Nguyen, Haimin Hu +1 more
2026
Tree Learning: A Multi-Skill Continual Learning Framework for Humanoid Robots
Yifei Yan, Linqi Ye
2026
Evolving the Complete Muscle: Efficient Morphology-Control Co-design for Musculoskeletal Locomotion
Lidong Sun, Wentao Zhao, Ye Wang +2 more
2026
Asymptotically Stable Gait Generation and Instantaneous Walkability Determination for Planar Almost Linear Biped with Knees
Fumihiko Asano, Ning Lei, Taiki Sedoguchi
2026
Dynamic Modeling and Robust Gait Optimization of a Compliant Worm Robot
Xinyu Zhou, Yu Mei, Faith Thomson +3 more
2026
A Foot Resistive Force Model for Legged Locomotion on Muddy Terrains
Xunjie Chen, Liuyin Wang, Xinyan Huang +3 more
2026
Bipedal-Walking-Dynamics Model on Granular Terrains
Xunjie Chen, Xinyan Huang, Peter Shan +2 more
2026
Modeling, Analysis and Activation of Planar Viscoelastically-combined Rimless Wheels
Fumihiko Asano, Yuxuan Xiang, Yanqiu Zheng +1 more
2026
Simulator Adaptation for Sim-to-Real Learning of Legged Locomotion via Proprioceptive Distribution Matching
Jeremy Dao, Alan Fern
2026
Trajectory-based actuator identification via differentiable simulation
Vyacheslav Kovalev, Ekaterina Chaikovskaia, Egor Davydenko +1 more
2026
Natural Gradient Gaussian Approximation Filter on Lie Groups for Robot State Estimation
Tianyi Zhang, Wenhan Cao, Chang Liu +2 more
2026
GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion
Samuel C. Buckner, Purnanand Elango
2026
SafeMind: A Risk-Aware Differentiable Control Framework for Adaptive and Safe Quadruped Locomotion
Zukun Zhang, Kai Shu, Mingqiao Mo
2026
Musculoskeletal Motion Imitation for Learning Personalized Exoskeleton Control Policy in Impaired Gait
Itak Choi, Ilseung Park, Eni Halilaj +1 more
2026
Toward Hardware-Agnostic Quadrupedal World Models via Morphology Conditioning
Mohamad H. Danesh, Chenhao Li, Amin Abyaneh +5 more
2026
PriPG-RL: Privileged Planner-Guided Reinforcement Learning for Partially Observable Systems with Anytime-Feasible MPC
Mohsen Amiri, Mohsen Amiri, Ali Beikmohammadi +2 more
2026
Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU
Jeffrey Fang, Glen Chou
2026
Robust Quadruped Locomotion via Evolutionary Reinforcement Learning
Brian McAteer, Karl Mason
2026
A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization
Aastha Mishra, Aman Singh, Shishir Kolathaya
2026
LatentMimic: Terrain-Adaptive Locomotion via Latent Space Imitation
Zhiquan Wang, Yunyu Liu, Dipam Patel +3 more
2026