Legged Robotics

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11 papers in the last four weeks, up 267% on the four weeks before. 0.1% of all new papers.

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  1. Toward Lunar Legged Robots: Field Deployment Lessons at LUNA

    Oct 8, 2026Adrian Fuhrer, Joseph Church, Oliver Fischer +6RoboticsLegged Robotics

    ETH Zurich, Robotics Systems Lab; Leonhardstrasse 21, 8092 Zurich, Switzerland

  2. RAGNAROK: Radar-Aided Gravity-Normalized Alignment for Robust Open Keyframe-based Radar-Visual-Kinematic-Inertial SLAM

    Oct 8, 2026Hanjun Kim, Chiyun Noh, Sangwoo Jung +5Simultaneous Localization and MappingRobot State Estimation

    Dept. of Mechanical Engineering, SNU, Seoul, S. Korea · Mobile Robotics Lab, School of Computation, Information and Technology (CIT) at the Technical University of Munich (TUM), 80333 Munich, Germany, and with the Munich Institute of Robotics and Machine Intelligence (MIRMI) · Mobile Robotics Lab, ETH Zurich, 80892 Zurich, Switzerland

  3. Higher-Order Morphology Priors for Quadruped Reinforcement Learning Under Actuator Degradation

    Oct 7, 2026Derek You, Zafir Shamsi, Keqin Wang +1RL for Legged LocomotionQuadruped Locomotion

    Edison Academy Magnet School. · South Brunswick High School. Work done during the Princeton Laboratory Learning Program. · Princeton University.

  4. LLA-MPPI: Rapidly Adaptive Whole-body Control of Legged Robots with GPU-Accelerated Parallel Simulations

    Oct 7, 2026Sebin Jung, Maitham F. AL-Sunni, Juan Alvarez-Padilla +3Legged RoboticsRobot Locomotion

    Carnegie Mellon University, Pittsburgh, PA, USA · Massachusetts Institute of Technology, Cambridge, MA, USA

  5. Energy-Efficient Gait Adaptation via Hierarchical Reinforcement Learning for Quadrupedal Locomotion Across Diverse Terrains

    Oct 7, 2026Ammar Issa, Anubhav Singh, Anton Tsaritsin +1Legged RoboticsEnergy-Efficient Robot Locomotion

    Faculty of Control Systems and Robotics, ITMO University, and the Biomechatronics and Energy-Efficient Robotics Lab (BE2R), St. Petersburg, Russia

  6. ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics

    Oct 7, 2026Kentaro Uno, Warley F. R. Ribeiro, Yusuke Koizumi +4Robotics SimulationLegged Robotics

    Space Robotics Lab (SRL), Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Aramaki-Aza, Aoba-ku, Sendai, Miyagi 980-8579, Japan · VisionSpace Technologies GmbH, Robert-Bosch Straße 7, 64293 Darmstadt, Germany

  7. Magnet-Aware Control of Legged Robots

    Oct 6, 2026J. Playan Garai, S. B. Djuve, C. McGreavy +1Robotic ControlLegged Robotics

    Technical University of Munich (TUM), Munich, Germany · Conseil Europ´een pour la Recherche Nucl´eaire (CERN), BE/CEM/MRO, Geneva, Switzerland

  8. Hierarchical Reinforcement Learning for Collision-Free Locomotion of an Underactuated Biped

    Oct 5, 2026Jagannath Prasad Sahoo, Saurabh Kumar, Surya Prakash S. K. +3Legged RoboticsHierarchical RL

    CAIR, Indian Institute of Technology Mandi, Mandi, India · SMME, Indian Institute of Technology Mandi, Mandi, India

  9. Dense Temporal Motion Retargeting for Legged Robots

    Sep 29, 2026Jaeryeong Kim, Taerim Yoon, Jin Cheng +2Legged RoboticsHumanoid Robot Locomotion

    Department of Computer Science, ETH Zurich, Wasserwerkstrasse 12, 8092 Zurich, Switzerland

  10. Contact as a Decision Variable: Capability-Tradeoff Contact Selection for Legged Loco-Manipulation

    Sep 24, 2026Al Jaber Mahmud, Shuai Li, Xuan WangLegged RoboticsContact-Rich Robotic Manipulation

    George Mason University · University of Florida

  11. Echo in the Steps: Learning Perceptive Humanoid Parkour with Gated Memory

    Sep 24, 2026Ming-Ju Lee, Zizhuo Wang, Shaoting Zhu +3Legged RoboticsHumanoid Robot Locomotion

    Tsinghua University

  12. Pose-aware Legged Robot Semantic Exploration with Omnidirectional Perception in Confined Unknown Environments

    Sep 16, 2026Xiaoyang Zhan, Shiyu Chen, Kenji ShimadaLegged RoboticsNext-Best-View Planning

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

  13. Adaptive-MHE : A Sampling-Based Adaptive MPC for Legged Loco-Manipulation via Moving Horizon Estimation

    Sep 15, 2026Hossein Keshavarz, Alejandro Ramirez-Serrano, Majid KhadivRobot Dynamics IdentificationLegged Robotics

    University of Calgary, Department of Mechanical Engineering, 2500 University Drive NW, Calgary, AB, Canada · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany

  14. Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations

    Sep 15, 2026Friedrich Graaf, Elias Birkefeld, Christian Eichmann +5Robotic ControlLegged Robotics

    FZI Research Center for Information Technology, Karlsruhe, Germany · Machine Intelligence and Robotics Lab (MaiRo), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany

  15. Decentralized Evolution of Hexapod Gaits with Independent Leg Controllers

    Sep 14, 2026Gary B. Parker, John Asaro, Jim O'ConnorLegged RoboticsEvolutionary Optimization

    Connecticut College, New London CT 06320-4125, USA

  16. Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism

    Sep 11, 2026Giovanni B. Dessy, Claudio Semini, Victor BarasuolLegged RoboticsRobotics

    Dynamic Legged Systems, Istituto Italiano di Tecnologia, Genoa/GE, 16163, Italy

  17. Harness Robotic OS: A Unified Embodied-Agent Runtime for Closed-Loop Quadruped Inspection

    Sep 11, 2026Yaoyuan Yan, Zhiyou Heng, Haoxiang Jie +3Legged RoboticsRobotic Inspection

    AI Lab, Country Garden Services · Omni AI · East China Normal University

  18. Frame-Coded Legged Locomotion over Noisy Terrain

    Sep 9, 2026Lav R. VarshneyLegged RoboticsTerrain-Aware Robot Locomotion

    Department of Electrical and Computer Engineering and the AI Innovation Institute, Stony Brook University, Stony Brook, NY 11794 USA

  19. Open-Set Ego-Noise Separation for Legged-Robot Audition via Annotation-Free Adaptation and Pretrained-Model Transfer

    Sep 7, 2026Koki Shoda, Jun Younes Louhi Kasahara, Aoba Koyanagi +2Legged RoboticsUnsupervised Domain Adaptation

    The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan.

  20. QLAUN: A Research-Oriented, Robust, Agile, Modular, and Affordable Torque-Controlled Quadruped Robot

    Sep 3, 2026Mohamad S. Moudallal, Noel J. MaaloufLegged RoboticsModular Robotics

    Department of Electrical and Computer Engineering, Lebanese American University, Byblos, Lebanon

  21. Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots

    Aug 19, 2026SeongWon Nam, Hyunyong Lee, Hansol Kang +5Robotic ControlLegged Robotics

    Robotics Innovatory, School of Mechanical Engineering, Sungkyunkwan University (SKKU), South Korea · AIDIN ROBOTICS Inc., Anyang, South Korea

  22. Hip Energized Monopedal Hopping

    Aug 11, 2026Shane Rozen-Levy, Griffon McMahon, Daniel KoditschekRobotic ControlLegged Robotics

    GRASP Lab, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA · GRASP Lab, Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA

  23. Learning Fault-Tolerant Locomotion with Adaptive Gait Timing

    Aug 7, 2026Giovanbattista Gravina, Luca Rossini, Carlo Rizzardo +2Legged RoboticsRobot Locomotion

    Humanoids and Human-Centered Mechatronics Research Line, Italian Institute of Technology, Genoa 16163, Italy

  24. TRACE: Learned Proprioceptive Odometry for Legged Robots under Unreliable Contact Conditions

    Aug 6, 2026Taehyeon Kong, Woojin Kim, Jemin HwangboLegged RoboticsInertial Odometry

    Korea Advanced Institute of Science and Technology (KAIST), Yuseong-gu, Daejeon 34141, Republic of Korea

  25. Toward Certified Functional Safety for Industrial Humanoid Robots: The Fail-Passive Gap and a Feasibility Study

    Aug 3, 2026Caiwu Ding, Tao Cui, Lingyun Wang +1Legged RoboticsSafety-Critical Control

    Siemens Foundational Technologies, Siemens Corporation, Princeton, NJ, USA

  26. Residual-Based Adaptive Kalman Filtering for Legged Robot State Estimation

    Aug 3, 2026Mihaela Popescu, Dennis Mronga, Shivesh Kumar +1Legged RoboticsKalman Filtering

  27. Advances, challenges, and opportunities for legged robots

    Jul 31, 2026Jonas Frey, Matías Mattamala, Hae-Won Park +5Legged RoboticsHumanoid Robot Locomotion

    ETH Zurich, Zurich, Switzerland · Stanford University, Stanford, CA, USA · UC Berkeley, Berkeley, CA, USA +9

  28. Koopman DCM: Unstable Eigenfunctions as Data-driven Representations for Legged Balancing

    Jul 21, 2026Stéphane CaronLegged RoboticsKoopman Operator Learning

    Institute for Intelligent Systems and Robotics CNRS and Sorbonne University, Paris, France

  29. TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation

    Jul 11, 2026Muqun Hu, Yuhao Zhou, Kabir Ray Malik +4Legged RoboticsRL for Robotics

    1Purdue University · University of Florida

  30. Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report

    Jul 8, 2026Xufeng Zhao, Fuzhi Yang, Jianhui Chen +17Legged RoboticsTerrain-Aware Robot Locomotion

    Amapbot Team, Amap, Alibaba Group