2 papers
cs.RO2026
SurGE: Surrogate Gradient-guided Evolution for Co-design of Legged Robots with Parallel Elasticity
Yulun Zhuang, Yue Qin, Justin Lu +4
Co-design of legged robots with elastic elements is challenging due to the non-differentiability of contact dynamics and mechanism engagement. This paper presents SurGE, a framewor…
cs.RO2026
Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot
Yue Qin, Yulun Zhuang, Zelin Shen +1
In this letter, we present a hierarchical control framework that enables wheeled bipedal robots to perform planar object sliding tasks with their wheeled legs. The proposed approac…