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cs.RO2026
A Deployable Bio-inspired Compliant Leg Design for Enhanced Leaping in Quadruped Robots
Yiyang Chen, Yuxin Liu, Jinzheng Zhou +4
Quadruped robots are becoming increasingly essential for various applications, including industrial inspection and catastrophe search and rescue. These scenarios require robots to…
eess.SY2026
Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
Chuyuan Tao, Fanxin Wang, Haolong Jiang +3
Model Predictive Path Integral (MPPI) control has emerged as a powerful sampling-based optimal control method for complex, nonlinear, and high-dimensional systems. However, directl…