Bipedal Locomotion

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22 papers2 papers in the last four weeks, down 50% on the four weeks before. 0.0% of all new papers.

  1. OmniQuad: a Wheeled-Legged Hybrid Robot with Omnidirectional Wheels

    Oct 28, 2026Francesco Iotti, Alok Ranjan, Franco Angelini +1Bipedal LocomotionRobot Locomotion

    Department of Information Engineering of University of Pisa, Via Girolamo Caruso 16 , Pisa, 56122, Italy · Research Center Enrico Piaggio, Largo Lucio Lazzarino 1, Pisa, 56122, Italy

  2. RAIWAY: A Large-Wheeled Bipedal Robot with Contact-Informed Blind Locomotion

    Oct 23, 2026Kyungmin Nam, Jiseong Lee, Donghyuk Choi +3Robot LocomotionBipedal Locomotion

    Robotics and Artificial Intelligence Lab, Korea Advanced Institute of Science & Technology (KAIST), Daejeon 34141, South Korea

  3. Passive-Dynamic-Walking-Inspired Dynamics Guidance for Energy-Efficient Humanoid Locomotion

    Sep 28, 2026Hyeonjin Choi, Joongheon Kim, Daekyum KimHumanoid Robot LocomotionReinforcement Learning

    School of Mechanical Engineering, Korea University, Seoul 02841, Republic of Korea · School of Electrical Engineering, Korea University, Seoul 02841, Republic of Korea · School of Smart Mobility, Korea University, Seoul 02841, Republic of Korea

  4. Generate, Track, Improve: Perceptive Multi-Skill Humanoid Locomotion with RL-Fine-Tuned Motion Generators

    Sep 25, 2026Zachary Olkin, William D. Compton, Aaron D. AmesHumanoid Robot LocomotionBipedal Locomotion

    Department of Control and Dynamical Systems at the California Institute of Technology

  5. FootQuery: Future-Touchdown-Guided Retrieval from Depth History for Perceptive Humanoid Locomotion

    Sep 18, 2026Tao Dong, Jia Yu, Yuxuan Fan +5Humanoid Robot LocomotionTerrain-Aware Robot Locomotion

    Institute for AI Industry Research (AIR), Tsinghua University, Beijing, China. · University of Science and Technology Beijing, Beijing, China. · Nanyang Technological University, Singapore. +1

  6. When to Waddle: A Comparative Study of Bipedal Torso-Stabilization on Low-Friction Surfaces

    Sep 18, 2026Ben Gu, Naomi Oke, George Ortiz +4Humanoid Robot LocomotionEnergy-Efficient Robot Locomotion

    Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA · Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA · Mechanical and Aerospace Engineering, New York University, New York, NY 10012, USA

  7. Walking on the Slope: Stable Bipedal Gaits with Genetic-Algorithm-Optimized Trajectories

    Sep 17, 2026Madhav RijalTrajectory OptimizationHumanoid Robot Locomotion

    Department of Mechanical Engineering, Indian Institute of Technology Kanpur, Kanpur 208016, India

  8. MILD: Tractable Terrain Modeling for Learning Improved Bipedal Locomotion on Deformable Surfaces

    Aug 20, 2026Zeren Luo, Jiahui Zhang, Zhe Xu +6Terrain-Aware Robot LocomotionBipedal Locomotion

    Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong · School of Mechanical and Electrical Engineering, Beijing Institute of Technology, Beijing, China · Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan

  9. Robust bipedal locomotion on flowable slopes via foot-driven terrain manipulation

    Jul 13, 2026Deniz Kerimoglu, Junnosuke Kamohara, Jiyeon Maeng +4Humanoid Robot LocomotionGranular Terrain Locomotion

    Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA · School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA · Department of Electrical and Computer Engineering, Northeastern University, Boston, MA 02115, USA

  10. WaveForward: An Omnidirectional Passive Wheeled Quadruped Robot with Casters

    Jun 24, 2026Chuanlin Zhao, Qifeng Zheng, Shuhan Wang +3Bipedal LocomotionRobot Locomotion

    State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

  11. Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors

    May 18, 2026Yidan Lu, Yichao Zhong, Liu Zhao +2Humanoid RoboticsHumanoid Robot Locomotion

    The University of Hong Kong, Hong Kong SAR, China.

  12. MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots

    May 13, 2026Yuqi Li, Peng Zhai, Yueqi Zhang +5Robotic ControlBipedal Locomotion

    College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai 200433, China · Power China Huadong Engineering Corporation Limited, Hangzhou, China

  13. Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking

    May 6, 2026Franek Stark, Felix Wiebe, Shubham Vyas +2Bipedal LocomotionNonlinear MPC

    Robotics Innovation Center at the German Research Center for Artificial Intelligence (DFKI), Bremen, Germany · University Bremen, Germany

  14. Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion

    Apr 16, 2026Tomoya Kamimura, Haruka Washiyama, Akihito SanoBipedal LocomotionRobot Locomotion

    Department of Mechanical Science and Bioengineering, Graduate School of Engineering and Science, The University of Osaka, Toyonaka, Japan. · Department of ElectricalTechnology,and MechanicalAichi,Engineering,Japan. Nagoya Institute of

  15. Asymptotically Stable Gait Generation and Instantaneous Walkability Determination for Planar Almost Linear Biped with Knees

    Apr 14, 2026Fumihiko Asano, Ning Lei, Taiki SedoguchiBipedal LocomotionRobot Locomotion

    Graduate School of Advanced Science and Technology, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan

  16. Bipedal-Walking-Dynamics Model on Granular Terrains

    Apr 13, 2026Xunjie Chen, Xinyan Huang, Peter Shan +2Granular Terrain LocomotionBipedal Locomotion

    Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854 USA · Bridgewater Raritan High School, Bridgewater, NJ 08807 USA · State Key Lab of Fluid Power Transmission and Control and the School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China

  17. Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints

    Mar 30, 2026Leonardo Colombo, Álvaro Rodríguez Abella, Alexandre Anahory Simoes +1Bipedal LocomotionLegged Robotics

    Centre for Automation and Robotics (CSIC-UPM), Ctra. M300 Campo Real, Km 0,200, Arganda del Rey - 28500 Madrid, Spain. · the Department of Applied Mathematics, Comillas Pontifical University, Madrid, 28015 - Madrid, Spain. · School of Science and Technology, IE University, Madrid, Spain. +1

  18. Allometric Scaling Laws for Bipedal Robots

    Mar 23, 2026Naomi Oke, Aja M. Carter, Ben Gu +4Legged RoboticsHumanoid Robot Locomotion

    Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA · Robotics Institute, Carnegie Mellon University, Pittsburgh PA 15213, USA

  19. Dynamic Modeling and Attitude Control of a Reaction-Wheel-Based Low-Gravity Bipedal Hopper

    Mar 11, 2026Shriram Hari, M Venkata Sai Nikhil, R Prasanth KumarBipedal LocomotionRobot Locomotion

    Department of Mechanical and Aerospace Engineering, Indian Institute of Technology Hyderabad, Sangareddy, India

  20. Soft Surfaced Vision-Based Tactile Sensing for Bipedal Robot Applications

    Feb 20, 2026Jaeeun Kim, Junhee Lim, Yu SheBipedal LocomotionRobotic Tactile Sensing

    Department of Industrial Engineering, Purdue University, West Lafayette, IN 47906, USA · Department of Computer Science, Purdue University, West Lafayette, IN 47906, USA

  21. Indirect Optimal Control for Constructing Libraries of Periodic Trajectories: Application to Bipedal Walking

    Oct 12, 2024Maximilian Raff, Kathrin Flaßkamp, C. David RemyBipedal LocomotionTrajectory Optimization

    Institute for Adaptive Mechanical Systems, University of Stuttgart, Germany. · Systems Modeling and Simulation, Saarland University, Germany

  22. The Strange Attractor Model of Bipedal Locomotion and its Consequences on Motor Control

    Feb 10, 2018Carlo Tiseo, Ming Jeat Foo, Kalyana C Veluvolu +2Bipedal LocomotionMotion Planning

    School of Engineering and Informatics, University of Sussex, Sussex House, Falmer, Brighton, BN1 9RH, England, United Kingdom · Rehabilitation Research Institute of Singapore, Nanyang Technological University, 50 Nanyang Avenue N3-01a-01, 639798, Singapore · School of Mechanical & Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue N3-01a-01, 639798, Singapore +3