Quadruped Locomotion

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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. 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

  2. Feeling Through the Load: Compliant Quadruped Locomotion under Payload Interactions

    Oct 6, 2026Shaunak A. Mehta, Mayank Mishra, Prajit KrisshnaKumar +2Robotic ControlRobot Locomotion

    Fujitsu Research of America, Pittsburgh, PA, 15213.

  3. Model-Based Geometry-Aware Generative Optimization for Constrained Locomotion Planning

    Oct 6, 2026Zhilin He, Xinyuan Wang, Changliu LiuConstrained Generative ModelingConstrained Motion Planning

    Carnegie Mellon University · University of Michigan, Ann Arbor

  4. RACER: Residual-Adaptive Closed-Loop Estimation for Sampling-Based Planning in Wheeled-Quadruped Racing

    Oct 5, 2026Yuxiang Liu, Marla Eisman, Lizhi Yang +2Residual Dynamics LearningSim-to-Real Transfer

    University of California, Berkeley, CA, USA. · California Institute of Technology, Pasadena, CA, USA.

  5. Transporting Unsecured Stacked Payloads with a Quadrupedal Robot via Multi-Objective Reinforcement Learning

    Oct 5, 2026Nobuo Namura, Masayuki Hiromoto, Kento Uemura +2Multi-Objective Reinforcement LearningRobot Policy Adaptation

    Fujitsu Limited, Kawasaki, Japan

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

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

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

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

    Sep 30, 2026Luca Bricarello, João Carlos Virgolino Soares, Alberto Sanchez-Delgado +2Continual Robot LearningSafe Robot Navigation

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

  8. Proprioceptive Force Estimation for Quadruped Locomotion and Human-Robot Interaction

    Sep 28, 2026Run Wang, Xu Yang, Alapati Tuerxun +1Robotic ControlHuman-Robot Interaction

    Department of Automation, Tsinghua University, Beijing, China

  9. DAWN: Noise-Robust Quadruped Parkour via Depth-Denoising World Models

    Sep 24, 2026Yohan Choi, Min-Jun Kim, Jin-Sung Kim +2World Models for RoboticsQuadruped Locomotion

    Convergence Engineering, Korea University of Technology and Education, Cheonan 31253, South Korea · School of Electrical, Electronics and Communication Engineering, Korea University of Technology and Education, Cheonan, 31253, South Korea

  10. SG-CPG: Severity-Gated Central Pattern Generators for Adaptive Quadruped Locomotion under Continuous Actuator Degradation

    Sep 22, 2026Adarsh Kumar Kosta, Kaushik RoyDynamical SystemsFault-Tolerant Control

    Department of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47906, USA

  11. MimicAgent: Quadruped Skills via Prompt-to-Trajectory Generation

    Sep 21, 2026Lucky Kant Nayak, Narayanan Palghat Parameswaran, Neehar Peri +1Reinforcement LearningTrajectory Generation

    Carnegie Mellon University

  12. OmniMimic: Dynamics-completed Motion Augmentation for Multi-style Omnidirectional Quadruped Locomotion

    Sep 17, 2026Sheng Wu, Guoqiang Zhao, Zhe Yang +7Robot Imitation LearningQuadruped Locomotion

    School of Artificial Intelligence and Robotics, Hunan University, China · China Mobile Group Hunan Company Ltd., China · National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, China

  13. DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion

    Sep 17, 2026Run Wang, Alapati Tuerxun, Shuo Liu +4Model Predictive ControlConstrained Optimization

    Department of Automation, Tsinghua University, Beijing, China · Department of Mechanical Engineering, Boston University, Brookline, MA, USA · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore +1

  14. GLAMDRING: Gait Learning And Morphology co-Design via Reinforcement LearnING of CPGs

    Sep 16, 2026Amogh Joshi, Kaushik RoyRobot Morphology-Control Co-DesignRobotics

    Purdue University, West Lafayette, IN 47907, USA

  15. Feedback-Modulated Harmonic Policies for Quadruped Locomotion

    Sep 16, 2026Yixuan Jia, Steven Roche, Jonathan P. HowRobotic ControlRobot Policy Learning

    Massachusetts Institute of Technology, Cambridge, MA 02319 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. 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

  18. Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits

    Sep 1, 2026Annika Schmidt, Davide Calzolari, Arne Sachtler +13Dynamical SystemsRobot Motion Generation

    Technical University of Munich (TUM), Department of Computer Engineering, Germany. · German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Weßling, Germany. · Eindhoven University of Technology (TU/e), Department of Mechanical Engineering, The Netherlands. +1

  19. 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

  20. 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

  21. Open-DiffLoco: Open-Source Differentiable Learning for Deployable Blind Quadruped Locomotion

    Aug 3, 2026Martin OpatSim-to-Real TransferRL for Legged Locomotion

    University of Groningen, Netherlands

  22. Rapid Embodiment Adaptation for Quadrupedal Locomotion

    Aug 2, 2026Dichen Li, Bo Ai, Nico Bohlinger +3Robot Dynamics IdentificationRobot Policy Adaptation

    UC San Diego · Stanford University · TU Darmstadt +2

  23. 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

  24. Two2Four: Generative Quadruped Puppeteering from Human Motion

    Jul 28, 2026Fatemeh Zargarbashi, Zehong Qiu, Dhruv Agrawal +4Motion Diffusion ModelsMotion Retargeting

    DisneyResearch|Studios, Switzerland · ETH Zürich, Switzerland

  25. Towards Torque-Driven Reinforcement Learning for Quadruped Locomotion

    Jul 20, 2026Jordan Dowdy, Jean Chagas VazReinforcement LearningTerrain-Aware Robot Locomotion

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

  26. Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds

    Jul 20, 2026Jordan Dowdy, Jean Chagas VazSim-to-Real TransferWhole-Body Control

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

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

    Jul 15, 2026Jun-Gill Kang, Jaehyun Park, Tae-Gyu Song +3Terrain-Aware Robot LocomotionRobot Locomotion

    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

  28. Stop to Decide: Latency-Aware Proprioceptive Navigation Primitives for Mapping-Free Quadruped Inspection

    Jul 13, 2026Hanting Suo, Haonan Yan, Liang Wang +1Robotic ControlRobot Navigation

    School of Instrument Science and Engineering, Southeast University, Nanjing, China. · School of Electrical Engineering, Southeast University, Nanjing, China. · School of Mechanical Engineering, Southeast University, Nanjing, China.

  29. 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

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

    Jul 2, 2026Taizoon Chunawala, Jeeseop Kim, Kaveh Akbari HamedNonlinear MPCTerrain-Aware Robot Locomotion

    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