Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
Allometric Scaling Laws for Bipedal Robots
Naomi Oke, Aja M. Carter, Ben Gu +4
Legged robots operate across a wide range of physical scales, but how their designs should be adapted as size changes remains unclear. Here, we tackle this question in two ways. Fi…
cs.RO2025
How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints
Kensuke Nakamura, Arun L. Bishop, Steven Man +3
Latent safety filters extend Hamilton-Jacobi (HJ) reachability to operate on latent state representations and dynamics learned directly from high-dimensional observations, enabling…
cs.RO2025
Zippy: The smallest power-autonomous bipedal robot
Steven Man, Soma Narita, Josef Macera +3
Miniaturizing legged robot platforms is challenging due to hardware limitations that constrain the number, power density, and precision of actuators at that size. By leveraging des…