Robot Locomotion

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27 papers in the last four weeks, up 440% on the four weeks before. 0.3% of all new papers.

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  1. 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

  2. asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics

    Apr 27, 2026Fang Wan, Guangyi Huang, Tianyu Wu +5Humanoid Robot LocomotionReinforcement Learning

    Southern University of Science and Technology · Shenzhen, China · The University of Hong Kong +4

  3. Unleashing the Agility of Wheeled-Legged Robots for High-Dynamic Reflexive Obstacle Evasion

    Apr 26, 2026Yongen Zhao, Zihao Xu, Wenzhi Lu +4Hierarchical RLRobot Locomotion

    Beijing Zhongguancun Academy, Beijing, China · School of Mechanical Engineering, Tianjin University, Tianjin, China · School of Computing, National University of Singapore, Singapore +1

  4. QuietWalk: Physics-Informed Reinforcement Learning for Ground Reaction Force-Aware Humanoid Locomotion Under Diverse Footwear

    Apr 26, 2026Hanze Hu, Luying Feng, Silu Chen +6Humanoid Robot LocomotionRobot Locomotion

  5. False Feasibility in Variable Impedance MPC for Legged Locomotion

    Apr 24, 2026Vishal RameshImpedance ControlModel Predictive Control

  6. Dynamic Coupling and Indirect Control of Jointed Robots Rolling Atop A Moving Platform

    Apr 23, 2026Hamidreza Moradi, Scott David KellyRobotic ControlRobot Trajectory Tracking

    Department of Mechanical Engineering and Engineering Science, University of North Carolina at Charlotte, Charlotte, NC 28223 USA

  7. 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.

  8. Quadruped Parkour Learning: Sparsely Gated Mixture of Experts with Visual Input

    Apr 21, 2026Michael Ziegltrum, Jianhao Jiao, Tianhu Peng +2Robot Policy LearningSparse Mixture-of-Experts

    Robot Perception and Learning Lab, Intelligent Robotics, Department of Computer Science, University College London, Gower Street, WC1E 6BT, London, UK.

  9. Multi-Gait Learning for Humanoid Robots Using Reinforcement Learning with Selective Adversarial Motion Prior

    Apr 21, 2026Yuanye Wu, Keyi Wang, Linqi Ye +1Humanoid Robot LocomotionRobot Locomotion

    School of Future Technology, Shanghai University, Shanghai, 200444, China · National and Local Co-Built Humanoid Robotics Innovation Center, 201203 Shanghai, China

  10. Locomotion of an Elastic Snake Robot via Natural Dynamics

    Apr 20, 2026Tristan Ehlert, Arne Sachtler, Annika Schmidt +2Dynamical SystemsEnergy-Efficient Robot Locomotion

    German Aerospace Center (DLR), Robotics and Mechatronics Center (RMC), Münchner Str. 20, 82234 Weßling, Germany · Technical University of Munich (TUM), Department of Computer Engineering; Boltzmannstraße 3, 85748 Garching, Germany

  11. Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking

    Apr 19, 2026Zewei Zhang, Kehan Wen, Michael Xu +7Robot Trajectory TrackingHumanoid Robot Locomotion

    Robotic Systems Lab, ETH Zurich · EPFL · Simon Fraser University +2

  12. Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion

    Apr 16, 2026Tomoya Kamimura, Haruka Washiyama, Akihito SanoRobot LocomotionRL for Legged Locomotion

    Department of Mechanical Science and Bioengineering, Graduate School of Engineering and Science, The University of Osaka, Toyonaka, Japan. · Department of ElectricalTechnology,and MechanicalAichi,Engineering,Japan. Nagoya Institute of

  13. Identifying and Exploiting Structure in Robot Co-Design

    Apr 13, 2026Apoorv Vaish, Oliver BrockRobot Morphology-Control Co-DesignRobotic Manipulation

    Robotics and Biology Laboratory, Technische Universität Berlin · Science of Intelligence (SCIoI), Cluster of Excellence, Berlin · Robotics Institute Germany (RIG)

  14. TriphiBot: A Triphibious Robot Combining FOC-based Propulsion with Eccentric Design

    Feb 1, 2026Xiangyu Li, Tiancheng Lai, Mingwei Lai +6Aerial RoboticsNonlinear MPC

    State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027, China · Huzhou Institute of Zhejiang University, Huzhou 313000, China · Hainan Red Tower Cigarette Co., Ltd., Hainan 571100, China

  15. Debate2Create: Robot Co-design via Multi-Agent LLM Debate

    Oct 29, 2025Kevin Qiu, Marek CyganRobot Morphology-Control Co-DesignMulti-Agent Debate

    University of Warsaw · 2IDEAS NCBR · 3Nomagic

  16. Pretraining in Actor-Critic Reinforcement Learning for Locomotion

    Oct 14, 2025Jiale Fan, Andrei Cramariuc, Tifanny Portela +1RL for RoboticsReinforcement Learning

    Section of Microengineering, EPFL, 1015 Lausanne, Switzerland · Robotic Systems Lab, ETH Zurich, 8092 Zürich, Switzerland · ETH AI Center, ETH Zurich, 8092 Zürich, Switzerland

  17. Uncertainty-Aware Ankle Exoskeleton Control

    Aug 28, 2025Fatima Mumtaza Tourk, Bishoy Galoaa, Sanat Shajan +3Uncertainty QuantificationAnkle Exoskeleton Control

    Department of Mechanical Engineering, Northeastern University, Boston, MA 02115 USA

  18. Physics-Guided Residual Reinforcement Learning for Humanoid Narrow-Path Traversal

    Aug 28, 2025Tianchen Huang, Sisheng Chen, Wei Zhou +8Humanoid Robot LocomotionRobot Skill Learning

    Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230026, China

  19. 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

  20. CMoE: Contrastive Mixture of Experts for Motion Control and Terrain Adaptation of Humanoid Robots

    Date pendingShihao Ma, Hongjin Chen, Zijun Xu +6Humanoid Robot LocomotionTerrain-Aware Robot Locomotion

    College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China, 200433