Legged Robots

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13 papers in the last four weeks, up 333% on the four weeks before. 0.1% of all new papers.

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  1. Magnet-Aware Control of Legged Robots

    Oct 6, 2026J. Playan Garai, S. B. Djuve, C. McGreavy +1Legged Robots

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

  2. Robust Nonprehensile Object Transport with Quadruped Robots

    Oct 5, 2026Ainoor Teimoorzadeh, Riccardo Pretto, Mario Selvaggio +2Legged Robots

    Munich Institute of Robotics & Machine Intelligence, Technical University of Munich (TUM), Munich, Germany · Tampere University, Finland · PRISMA Lab, Department of Electrical Engineering and Information Technology, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy +1

  3. PROMO: Preference-conditioned Multi-Objective Reinforcement Learning for Quadrupedal Robots

    Oct 1, 2026Amr Mousa, Rifny Rachman, Neil Karavis +2Multi-Objective Reinforcement LearningAgile Locomotion

    The University of Manchester, United Kingdom · BAE Systems, United Kingdom · University of Warwick, United Kingdom

  4. Experience-Driven Continual Learning of Terrain Traversability for Quadruped Robots

    Sep 30, 2026Luca Bricarello, João Carlos Virgolino Soares, Alberto Sanchez-Delgado +2Legged RobotsTraversability

    Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia, Genoa, Italy. · Universit`a degli Studi di Genova, Genoa, Italy.

  5. Dense Temporal Motion Retargeting for Legged Robots

    Sep 29, 2026Jaeryeong Kim, Taerim Yoon, Jin Cheng +2Cross-Embodiment RetargetingLegged Robots

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

  6. Predict Before You Step: Auditable Occupancy Forecasting for Dynamic Obstacle Avoidance under Sparse Guidance

    Sep 22, 2026Yuhui Mao, Fen Liu, Shenghai Yuan +3Obstacle AvoidanceOccupancy

    School of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798

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

    Sep 17, 2026Madhav RijalGait DynamicsLegged Robots

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

  8. Mechanical Precision Weeding with a Quadruped Robot

    Sep 17, 2026Ruben Beumer, Tom Janssen, René van de Molengraft +1Agricultural RoboticsLegged Robots

    Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands · Institute for Transport Planning and Systems, ETH Zürich, Stefano-Franscini-Platz 5, Zürich, Switzerland.

  9. Quantifying Mechanical Intelligence in Legged Robots with Information Theory

    Sep 17, 2026Zach J. PattersonLegged RobotsSoft Robotics

    Mechanical and Aerospace Engineering, Case Western Reserve University

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

    Sep 16, 2026Xiaoyang Zhan, Shiyu Chen, Kenji ShimadaLegged Robots3D Semantic Occupancy Prediction

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

  11. WAVE-Go: World-Model Navigation with Adaptive Execution for Wheel-Legged Robots

    Sep 16, 2026Mingyi Li, Ji Li, Zhihao Ouyang +2Object Goal NavigationSafe Navigation

    Beijing Institute of Technology · The University of Hong Kong · GAC R&D Center +2

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

    Sep 15, 2026Hossein Keshavarz, Alejandro Ramirez-Serrano, Majid KhadivHumanoid Loco-ManipulationLegged Robots

    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

  13. 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 +5Legged RobotsTorque

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

  14. Actuator Dynamics Curricula for Narrow-Viability Tasks in Legged Robot Learning

    Sep 8, 2026Kousheek Chakraborty, Chandan K. Rajendra, Ayham Alharbat +1ActuatorAgile Locomotion

    Saxion University of Applied Sciences · University of Groningen · University of Twente

  15. 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 RobotsAdaptive Boundary Suppression

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

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

    Sep 3, 2026Mohamad S. Moudallal, Noel J. MaaloufLegged RobotsQuadrotor

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

  17. SleepWalking: Privileged Representation Shaping for End-to-End Blind Locomotion in Legged Robots

    Aug 31, 2026Zheng Pan, Tenghui Wang, Peilin Li +5Agile LocomotionLegged Robots

    Northwestern Polytechnical University, Xi’an 710072, China · Shanghai Jiao Tong University, Shanghai 200240, China · Yunmu Intelligent Manufacturing Co., Ltd., Jiangsu 215400, China

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

    Aug 19, 2026SeongWon Nam, Hyunyong Lee, Hansol Kang +5Underactuated DynamicsLegged Robots

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

  19. Learning Fault-Tolerant Locomotion with Adaptive Gait Timing

    Aug 7, 2026Giovanbattista Gravina, Luca Rossini, Carlo Rizzardo +2Legged RobotsGait Dynamics

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

  20. Spatiotemporal Agility: Time-Constrained Reinforcement Learning for Vision-Guided Dynamic Quadrupedal Interception

    Aug 7, 2026Yidong Zhu, Zibo Dai, Tongning Zhang +2Agile LocomotionLegged Robots

    Zhejiang University, Hangzhou, China · LimX Dynamics Technology Co., Ltd., Shenzhen, China

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

    Aug 6, 2026Taehyeon Kong, Woojin Kim, Jemin HwangboOdometryProprioception

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

  22. Situation Aware Frontier Prioritization for Quadruped Search and Rescue

    Aug 3, 2026Kevin Farias, Santiago Martin, Barbara Flores +5Human-Centric Mission PlanningLegged Robots

    Robotics and AI Lab, Technological University of Uruguay, Rivera, Uruguay

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

    Aug 3, 2026Mihaela Popescu, Dennis Mronga, Shivesh Kumar +1Extended Kalman FilterLegged Robots

  24. KING: Embodiment-Aware Kinematic Graph Neural Network for Unified Motion Representation of Legged and Wheeled Robots

    Aug 2, 2026Taku Okawara, Aoki Takanose, Kenji Koide +2KinematicsOdometry

    Department of Information Technology and Human Factors, the National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan

  25. Advances, challenges, and opportunities for legged robots

    Jul 31, 2026Jonas Frey, Matías Mattamala, Hae-Won Park +5Legged RobotsHumanoid

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

  26. WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots

    Jul 27, 2026Keita Yoneda, Kento Kawaharazuka, Kei OkadaScalable Robot LearningLegged Robots

    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. · AI Center, Graduate School of Information Science and Technology, The University of Tokyo, Japan.

  27. Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion

    Jul 20, 2026Jordan Dowdy, Jean Chagas VazLegged RobotsLocomotion

    Department of Electrical and Computer Engineering at the University of Louisville. · Faculty of Electrical and Computer Engineering, University of Louisville, Louisville, KY, 40208, USA.

  28. Predictive Training with Latent Imagination for Visual Quadruped Navigation

    Jul 20, 2026Yancheng Zhu, Wanli Ma, Chen Han +3Legged RobotsObstacle Avoidance

    Anker Spatial Perception Lab

  29. ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots

    Jul 18, 2026Ruturaj S. Sambhus, Kapi Ketan Mehta, Yicheng Zeng +1Multi-Robot SystemsModel Predictive Control

    Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA

  30. Learning Agile Navigation in Crowded Environments for Quadruped Robots

    Jul 16, 2026Shuyu Wu, Zeyu Liu, Tianbao Zhang +6Obstacle AvoidanceLegged Robots

    Shanghai Jiao Tong University, Shanghai 200240, China · State Key Laboratory of High-end Heavy-load Robots, Midea Group, Foshan 528300, China

  31. Safe Execution of RL Policies Via Acceleration-Based CBF-QP Constraint Enforcement for Real-World Robotic Deployments

    Jul 16, 2026Bastien Muraccioli, Alice Cariou, Pierre-Alexandre Leziart +4Control Barrier FunctionsQuadratic Programs

    CNRS–AIST Joint Robotics Laboratory (JRL), IRL3218, AIST, Tsukuba, Japan · Department of Mechanical Engineering, The University of Tokyo, Japan

  32. Design and Control of the "QuadBoat": A Quadruped Surface Vehicle for Drowning Rescue

    Jul 15, 2026Lianxin Zhang, Yihan Huang, Huihuan QianUnderwater RobotsLegged Robots

    Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen, 518129, Guangdong, China. · School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen (CUHK-Shenzhen), Shenzhen, 518172, Guangdong, China. · Department of Electrical and Computer Engineering, Stevens Institute of Technology, Hoboken, 07030, New Jersey, United States.

  33. Agile perceptive multi-skill locomotion for quadrupedal robots in the wild

    Jul 15, 2026Jun-Gill Kang, Jaehyun Park, Tae-Gyu Song +3Agile LocomotionLegged Robots

    1Agency for Defense Development, Daejeon 34186, Republic of Korea · Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of Korea · 3DIDEN Robotics, Seoul 04799, Republic of Korea +2

  34. PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings

    Jul 13, 2026Zhengmao He, Moonkyu Jung, Hyeongjun Kim +4Humanoid Loco-ManipulationLegged Robots

    The Hong Kong University of Science and Technology (Guangzhou). · Korea Advanced Institute of Science and Technology. · ETH Zurich. +1

  35. Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots

    Jul 10, 2026Hilton Marques Souza Santana, João Carlos Virgolino Soares, Marco Antonio Meggiolaro +1State EstimationLegged Robots

    Department of Mechanical Engineering at the Pontifical Catholic University of Rio de Janeiro · Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia

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

    Jul 8, 2026Xufeng Zhao, Fuzhi Yang, Jianhui Chen +17Legged RobotsFull-Body Humanoid Control

    Amapbot Team, Amap, Alibaba Group

  37. Multi-Rate Nonlinear Model Predictive Control for Wall-Supported Bipedal Locomotion of Quadrupedal Robots

    Jul 2, 2026Taizoon Chunawala, Jeeseop Kim, Kaveh Akbari HamedLegged RobotsModel Predictive Control

    Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA · Department of Aerospace and Mechanical Engineering, The University of Texas at El Paso, TX 79968, USA

  38. A Reconfigurable Rocker-Bogie Robot for High Step Climbing and Turning

    Jul 2, 2026Kento Koizumi, Tomoaki Ohba, Yuta Saito +2WheelLegged Robots

    Artificial Intelligence Laboratory, University of Tsukuba, Tsukuba, Japan · Ph.D. Program in Engineering Mechanics and Energy, University of Tsukuba, Tsukuba, Japan · Beaver’s Hive, Osaka, Japan +1

  39. Learning Locomotion on Discrete Terrain via Minimal Proximity Sensing

    Jun 30, 2026Jiale Fan, Connor Flynn, Tianao Xu +4ProprioceptionLegged Robots

    All authors are with the Robotic Systems Lab, ETH Zurich.

  40. KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability

    Jun 29, 2026Luca Rossini, Arturo Laurenzi, Francesco Ruscelli +8Legged RobotsHumanoid Loco-Manipulation

    Humanoids and Human Centered Mechatronics, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy · Advanced Robotics Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy

  41. Unleashing Infinite Motion: Scaling Expressive Quadrupedal Motion via Generative Video Priors

    Jun 26, 2026Youzhi Liu, Li Gao, Yifei Qian +3Training-Set Long-Tail MotionsLegged Robots

    Amap, Alibaba Group

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

    Jun 24, 2026Giulio Turrisi, Ozan Pali, Luca Oneto +1Agile LocomotionLegged Robots

    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

  43. StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots

    Jun 24, 2026Xincheng Tang, Youhan Xie, Zhengjie Shu +5Legged RobotsScalable Robot Learning

    Shanghai Jiao Tong University

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

    Jun 24, 2026Chuanlin Zhao, Qifeng Zheng, Shuhan Wang +3Legged RobotsPassive

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

  45. Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots

    Jun 23, 2026David Rytz, Kim Tien Ly, Ioannis HavoutisAgile LocomotionLegged Robots

    Dynamic Robot Systems, Oxford Robotics Institute, University of Oxford

  46. SlipSense: Multimodal Sensing for Online Slip Detection in Legged Robots

    Jun 23, 2026Iris Szu-Yao Liu, Chien Chern Cheah, Meng Yee Michael ChuahSlipsenseLegged Robots

    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore · Institute for Infocomm Research, Agency for Science Technology and Research, Singapore

  47. DynaWM: Dynamics-Aware Distillation with World Model and Momentum Targets for Smooth Locomotion over Continuous Stairs

    Jun 23, 2026Haidong Hou, Zhangguo Yu, Hengbo Qi +1Agile LocomotionLegged Robots

    School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

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

    Jun 20, 2026Yulun Zhuang, Yue Qin, Justin Lu +4Co-DesignLegged Robots

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

  49. Long-Distance Real-World Navigation of the Legged-Wheeled Robot Go2-W Using Deep Reinforcement Learning

    Jun 19, 2026Takaaki Matsuzawa, Kiyoshi Irie, Tomoaki Yoshida +3Legged RobotsAutonomous Navigation

    Future Robotics Technology Center (fuRo), Chiba Institute of Technology, Narashino, Chiba, Japan.

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

    Jun 18, 2026Joong-Gil Kim, Wontae Ye, Geunwoo Cho +3Legged RobotsFeet

    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

  51. ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments

    Jun 18, 2026Natapat Kirdwichai, Danesh TaraporeLegged RobotsForests

    Faculty of Engineering and Physical Sciences, University of Southampton, United Kingdom

  52. SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation

    Jun 17, 2026Han Zheng, Zhe Chen, Yiwen Fu +2Collision-Free TrajectoriesLegged Robots

    Shanghai Jiao Tong University, Shanghai, China.

  53. Simulating Robotic Locomotion in Sand: Resistive Force Theory in an Open-Source Physics Engine

    Jun 17, 2026Ryan Walker Brown, Laura K. Treers, Kathryn A. DaltorioGround Reaction ForcesLocomotion

    College of Engineering, Department of Mechanical and Aerospace Engineering at Case Western Reserve University, Cleveland, OH 44106 · College of Engineering and Mathematical Sciences, Department of Mechanical Engineering at the University of Vermont, Burlington, VT 05405

  54. Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot

    Jun 17, 2026Yue Qin, Yulun Zhuang, Zelin Shen +1Legged RobotsSlipsense

    Department of Robotics, University of Michigan, Ann Arbor, MI 48109, USA

  55. Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots

    Jun 17, 2026Roberto Corlito, Fabian Schmidt, Nils Seibert +3Legged RobotsSimultaneous Localization And Mapping

    Machine Intelligence and Robotics Lab, Karlsruhe Institute of Technology (KIT), Germany. · Institute for Intelligent Systems, Esslingen University of Applied Sciences, Germany. · Department of Computer Science, University of Freiburg, Germany.

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

    Jun 17, 2026Haoqi Han, Yifei Yu, Jiaming Zhang +3Kinematic ChainLegged Robots

    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

  57. FARM: Find Anything using Relational Spatial Memory

    Jun 13, 2026Siming He, Leo Huang, Adam Lilja +6Spatial MemoryLegged Robots

    1UC Berkeley · 2Stanford University

  58. Robust Fall Recovery for Armless Bipedal-Wheeled Robots Via Force-Guided Learning

    Jun 12, 2026Haidong Hou, Zhangguo Yu, Tao Han +6Legged RobotsRobust Fall Detection

    School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

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

    Jun 12, 2026Young-Rang Seo, Hajun Kim, Sangmin Kim +2ProprioceptionLegged Robots

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

  60. Y-BotFrame: An Extensible Embodied Agent Framework for Quadruped Robot Assistants

    Jun 11, 2026Luyao Zhang, Ke Li, Yuan Ding +9Embodied AgentsLegged Robots

    Xidian University Xi’an, China