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. Calf-Integrated Arms for Bimanual Quadruped Loco-Manipulation

    Jul 7, 2026Yan Pan, Yuanchuan Ren, Chipui Chan +2Legged RoboticsLong-Horizon Robotic Manipulation

    Dept. of Computer Science, University College London, UK.

  2. The Quadruped Soft Tail: Compliant Grasping and Swabbing for Contamination Surveys in Harsh Environments

    Jun 29, 2026Harald Minde Hansen, Nandita Gallacher, Kristin Y. Pettersen +2Legged RoboticsRobotics

    Mechatronics, Robotics and Operation Section, European Organization for Nuclear Research (CERN), Meyrin, Switzerland · Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway

  3. Mixture-of-Experts RL for Fault-Tolerant Legged Locomotion

    Jun 24, 2026Giulio Turrisi, Ozan Pali, Luca Oneto +1Legged RoboticsMixture of Experts

    Dynamic Legged Systems Laboratory, Istituto Italiano di Tecnologia (IIT), Genova, Italy. · Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Universita di Genova, Genova, Italy

  4. FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation

    Jun 23, 2026Yudong Zhong, Pengfei Mai, Sikai Guo +6Robotic ControlLegged Robotics

    1The Hong Kong University of Science and Technology (Guangzhou) · 2The University of Hong Kong

  5. Dynamics, stability, and energy efficiency of an energy-recycling rimless wheel with spring-clutch legs

    Jun 20, 2026Tongchen Lin, Yanqiu Zheng, Chuhan Zhang +3Legged RoboticsMechanism Design

    Department of Mechanical Engineering and Robotics, Guangdong Technion-Israel Institute of Technology, Shantou, China. · Department of Applied Electronics, Faculty of Advanced Engineering, Tokyo University of Science, Tokyo, Japan. · Tongchen Lin, Chuhan Zhang, Ruigang Chen, Yizhar Or, and Mingyi Liu: Faculty of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa, Israel.

  6. SurGE: Surrogate Gradient-guided Evolution for Co-design of Legged Robots with Parallel Elasticity

    Jun 20, 2026Yulun Zhuang, Yue Qin, Justin Lu +4Legged RoboticsSurrogate-Assisted Optimization

    Department of Robotics, University of Michigan, Ann Arbor, MI 48109, USA · Department of Mechanical and Aerospace Engineering, University of Tennessee, Knoxville, TN 37996, USA

  7. Comparative Study on Agility, Efficiency, and Impact Absorption of Bipedal Robots with Active Toes

    Jun 18, 2026Joong-Gil Kim, Wontae Ye, Geunwoo Cho +3Legged RoboticsHumanoid Robot Locomotion

    School of Electrical, Electronics and Communication Engineering, Korea University of Technology and Education, Cheonan, 31253, Korea · Artificial Intelligence and Robotics Institute, Korea Institute of Science and Technology, Seoul, 02792, South Korea · Robot Innovation Hub, WIRobotics Inc., Cheonan, 31253, Korea

  8. High-Degree-of-Freedom Lightweight Bioinspired Leg for Enhanced Mobility in Small Robots

    Jun 17, 2026Haoqi Han, Yifei Yu, Jiaming Zhang +3Legged RoboticsRobotics

    Department of Computer Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China · Department of Automation Engineering,Shanghai University of Electric Power,Shanghai,China · Department of Naval Architecture and Marine Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China +2

  9. LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors

    Jun 14, 2026Loukas Kordos, Leonard T. Franz, Simon Rappenecker +4Legged RoboticsRL for Robotics

    Technical University of Munich. · University of Tübingen. · Hertie Institute for Clinical Brain Research & Center for Integrative Neuroscience. +1

  10. GAIT: Legged Robot Proprioceptive State Estimation with Attention over Inertial-Leg Tokens

    Jun 12, 2026Young-Rang Seo, Hajun Kim, Sangmin Kim +2Legged RoboticsRobot State Estimation

    Korea Advanced Institute of Science and Technology, Yuseong-gu, Daejeon 34141, Republic of Korea.

  11. Propeller-Assisted Robust 3D Hopping Robot with Hierarchical Force Allocation

    Jun 6, 2026Chuhan Zhang, Hongbo Zhang, Yanlin Chen +4Legged RoboticsRobot Locomotion

    Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR. · Department of Mechanical Engineering, Guangdong Technion–Israel Institute of Technology, China. · Department of Mechanical Engineering, Technion–Israel Institute of Technology, Haifa, Israel. +1

  12. TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion

    Jun 6, 2026Thanh Ly, Truong-Duy Dang, Chien Le +5Legged RoboticsHumanoid Robot Locomotion

    VinRobotics, Vietnam · Center for AI Research, VinUniversity, Vietnam · Intelligent Autonomous Systems, TU Darmstadt, Germany

  13. Rapid co-design of Buoyancy-assisted robots for Challenging Locomotion using Gaussian Evolutionary Specialists

    Jun 5, 2026Ankit Sinha, Nitish Sontakke, Dennis Hong +2Legged RoboticsRobot Morphology-Control Co-Design

    School of Interactive Computing, Georgia Institute of Technology, TSRB 85 5th St NW, Atlanta, GA - 30332, USA · Dept. of Mechanical and Aerospace Engineering, University of California, Los Angeles, 420 Westwood Plaza, CA 90095, USA · Robotic Systems Lab, ETH Zurich, Leonhardstrasse 21, 8092 Zurich, Switzerland

  14. Learning Contact Representation for Leg Odometry

    Jun 3, 2026Emre Girgin, Cagri KilicLegged RoboticsSelf-Supervised Learning

    Department of Aerospace Engineering · Embry Riddle Aeronautical University · United States

  15. Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion

    May 30, 2026Shengcheng Fu, Yang Zhang, Zhanxiang Cao +4Legged RoboticsHumanoid Robot Locomotion

    Tongji University, Shanghai, China · Shanghai Jiao Tong University, Shanghai, China · Shanghai Innovation Institute, Shanghai, China +1

  16. Learning Terrain-Aware Whole-Body Control for Perceptive Legged Loco-Manipulation

    May 29, 2026Sikai Guo, Yudong Zhong, Guoyang Zhao +3Legged RoboticsTerrain-Aware Robot Locomotion

    Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China

  17. OCELOT: Odometry and Contact Estimation for Legged Robots

    May 21, 2026Emre Girgin, Cagri KilicLegged RoboticsRobot State Estimation

    Department of Aerospace Engineering, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, USA.

  18. WiXus: A Wheeled-Legged Robot with Wire-Driven Environmental Utilizing to Integrate Mobility and Manipulation

    May 20, 2026Shintaro Inoue, Kento Kawaharazuka, Temma Suzuki +2Legged RoboticsRobotics

    Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

  19. CoCo-InEKF: State Estimation with Learned Contact Covariances in Dynamic, Contact-Rich Scenarios

    May 14, 2026Michael Baumgartner, David Müller, Agon Serifi +4Legged RoboticsRobot State Estimation

    ETH Zurich, Switzerland · Disney Research, Switzerland

  20. Energy-Efficient Quadruped Locomotion with Compliant Feet

    May 14, 2026Pramod Pal, Shishir Kolathaya, Ashitava GhosalLegged RoboticsEnergy-Efficient Robot Locomotion

    Indian Institute of Science Bangalore India · Department of Mechanical Engineering, Indian Institute of Science, Bangalore, Karnataka, India · Robert Bosch Centre for Cyber Physical Systems Bangalore India +3

  21. Robot Squid Game: Quadrupedal Locomotion for Traversing Narrow Tunnels

    May 13, 2026Amir Hossain Raj, Dibyendu Das, Xuesu XiaoLegged RoboticsRL for Legged Locomotion

    Department of Computer Science, George Mason University

  22. Active Embodiment Identification with Reinforcement Learning for Legged Robots

    May 8, 2026Nico Bohlinger, Jan PetersLegged RoboticsRobotic RL

    Department of Computer Science, Technical University of Darmstadt, Germany. · Robotics Institute Germany (RIG); German Research Center for AI (DFKI); hessian.AI.

  23. On the Emergence of Pendular Structure in Multi-Contact Locomotion

    May 7, 2026Lingxue Lyu, Zihui LiuLegged RoboticsTrajectory Optimization

    School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, PA 19104, USA · Department of Aeronautics & Astronautics, Stanford University, Stanford, CA 94305, USA

  24. SigLoMa: Learning Open-World Quadrupedal Loco-Manipulation from Ego-Centric Vision

    May 5, 2026Shiyi Chen, Haiyi Liu, Mingye Yang +2Legged RoboticsSim-to-Real Transfer

    Tsinghua University · Imperial College London

  25. Height Control and Optimal Torque Planning for Jumping With Wheeled-Bipedal Robots

    May 5, 2026Yulun Zhuang, Yuan Xu, Binxin Huang +5Robotic ControlLegged Robotics

    Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China · Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China · Department of Mechanical Engineering, The University of British Columbia, Vancouver, BC, V6T1Z4, Canada

  26. Task-Conditioned Uncertainty Costmaps for Legged Locomotion

    Apr 30, 2026Kartikeya Singh, Christo Aluckal, Romeo Orsolino +1Legged RoboticsTerrain-Aware Robot Locomotion

    DRONES Lab, University at Buffalo, NY, USA · Ocado Technology, UK

  27. Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies

    Apr 29, 2026Pokuang Zhou, Yuhao Zhou, Quan Khanh Luu +7Legged RoboticsRL for Robotics

    Purdue University, West Lafayette, IN, USA. · Istituto Italiano di Tecnologia, Genoa, Italy. · Columbia University, New York, NY, USA.

  28. Bi-Level Optimization for Contact and Motion Planning in Rope-Assisted Legged Robots

    Apr 29, 2026Ruben Malacarne, Ioannis Tsikelis, Enrico Mingo Hoffman +1Legged RoboticsTrajectory Optimization

    Dipartimento di Ingegneria e Scienza dell’Informazione (DISI), University of Trento · Inria, Universit´e de Lorraine, CNRS, 54000 Nancy, France

  29. X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation

    Apr 23, 2026Yan Ning, Xingzhou Chen, Delong Li +6Legged RoboticsHumanoid Loco-Manipulation

    Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong, China. · X-lab Department, Agibot Innovation Company, Shanghai, China.

  30. A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future

    Apr 22, 2026I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin +5Robotic ControlLegged Robotics

    School of Mechanical Engineering, Purdue University, West Lafayette, IN 47906 USA · Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854 USA · Department of Robotics, University of Michigan, Ann Arbor, MI 48109 USA