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. Reinforcement Learning Enabled Adaptive Multi-Task Control for Bipedal Soccer Robots

    Apr 21, 2026Yulai Zhang, Yinrong Zhang, Ting Wu +1Legged RoboticsHumanoid Robot Control

    School of Future Technology, Shanghai University, Shanghai, China

  2. A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization

    Apr 7, 2026Aastha Mishra, Aman Singh, Shishir KolathayaLegged RoboticsMechanism Design

    Department of Cyber-Physical Systems (CPS), Indian Institute of Science (IISc), Bengaluru, India.

  3. 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

  4. GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation

    Feb 20, 2026Turcan Tuna, Jonas Frey, Frank Fu +5Legged RoboticsSimultaneous Localization and Mapping

    Robotic Systems Lab, ETH Zurich, Zurich 8092, Switzerland · 1ETH Zurich, Switzerland · 2Stanford University, USA +1

  5. Contact-Anchored Proprioceptive Odometry for Legged and Wheel-Legged Robots

    Feb 19, 2026Minxing Sun, Yao MaoLegged RoboticsRobot State Estimation

    Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, China · Institute for Infocomm Research (I2R), Agency for Science, Technology and Research, Singapore. · Shenzhen Astralldynamics Technology.

  6. PUMA: Perception-driven Unified Foothold Prior for Mobility Augmented Quadruped Parkour

    Jan 22, 2026Liang Wang, Kanzhong Yao, Yang Liu +4Legged RoboticsTerrain-Aware Robot Locomotion

    Institute of Cyber-Systems and Control, Zhejiang University, 310027, China · Institute of Artificial Intelligence (TeleAI), China Telecom.

  7. GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry

    Nov 17, 2025Chiyun Noh, Sangwoo Jung, Hanjun Kim +3Legged RoboticsInertial Odometry

    Dept. of Mechanical Engineering, SNU, Seoul, S. Korea · Robotics and AI Institute, Cambridge, USA

  8. SPARC: Spine with Prismatic And Revolute Compliance for Faster Quadrupedal Bounding

    Oct 2, 2025Yue Wang, Yanran XuLegged RoboticsImpedance Control

    School of Electronic and Computer Science, University of Southampton, United Kingdom

  9. GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots

    Sep 22, 2025Vassil Atanassov, Wanming Yu, Siddhant Gangapurwala +2Robotic ControlLegged Robotics

    Dynamic Robot Systems Group, Oxford Robotics Institute, University of Oxford · Sony AI · Dyson Institute of Engineering and Technology

  10. Tunable Leg Stiffness in a Monopedal Hopper for Energy-Efficient Vertical Hopping Across Varying Ground Profiles

    Aug 4, 2025Rongqian Chen, Jun Kwon, Kefan Wu +1Legged RoboticsEnergy-Efficient Robot Locomotion

    George Washington University · General Robotics, Automation, Sensing & Perception Lab at the University of Pennsylvania · University of Connecticut

  11. DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs

    Mar 6, 2025Yibin Wu, Jian Kuang, Shahram Khorshidi +4Legged RoboticsRobot State Estimation

    Center for Robotics, University of Bonn, Germany · GNSS Research Center, Wuhan University, China · Humanoid Robots Lab, University of Bonn, Germany +1

  12. The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots

    Jun 19, 2024Arnaud Demont, Mehdi Benallegue, Abdelaziz Benallegue +5Robot State EstimationLegged Robotics

    CNRS-AIST JRL, LISV · CNRS-AIST JRL (Joint Robotics Laboratory), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan · Université Paris-Saclay, Gif-sur-Yvette, France +5