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.RO2025
Kinodynamic Model Predictive Control for Energy Efficient Locomotion of Legged Robots with Parallel Elasticity
Yulun Zhuang, Yichen Wang, Yanran Ding
In this paper, we introduce a kinodynamic model predictive control (MPC) framework that exploits unidirectional parallel springs (UPS) to improve the energy efficiency of dynamic l…