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cs.RO2026
Unifying Sidewinding and Rolling: A Wave-Based Framework for Self-Righting in Elongated Limbless and Multi-Legged Robots
Hangjun Liu, Jiarui Geng, Jinxuan Ding +7
Centipede-like robots offer unique locomotion advantages due to their small cross-sectional area for accessing confined spaces, and their redundant legs enhance robustness in clutt…
cs.RO2026
PMG: Parameterized Motion Generator for Human-like Locomotion Control
Chenxi Han, Yuheng Min, Zihao Huang +4
Recent advances in data-driven reinforcement learning and motion tracking have substantially improved humanoid locomotion, yet critical practical challenges remain. In particular,…
cs.RO2024
MBC: Multi-Brain Collaborative Control for Quadruped Robots
Hang Liu, Yi Cheng, Rankun Li +3
In the field of locomotion task of quadruped robots, Blind Policy and Perceptive Policy each have their own advantages and limitations. The Blind Policy relies on preset sensor inf…