2 papers
cs.RO2026
Dynamics, stability, and energy efficiency of an energy-recycling rimless wheel with spring-clutch legs
Tongchen Lin, Yanqiu Zheng, Chuhan Zhang +3
This paper proposes an energy-recycling rimless wheel with spring-clutch legs. The proposed mechanism uses a lockable clutch to store part of the impact-induced elastic energy afte…
cs.RO2026
Propeller-Assisted Robust 3D Hopping Robot with Hierarchical Force Allocation
Chuhan Zhang, Hongbo Zhang, Yanlin Chen +4
Monopedal hopping robots are conceptually simple but highly dynamic and inherently unstable. Achieving robust 3D hopping is still difficult because ground reaction forces are avail…