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cs.RO2026
Robust bipedal locomotion on flowable slopes via foot-driven terrain manipulation
Deniz Kerimoglu, Junnosuke Kamohara, Jiyeon Maeng +4
Bipedal robots are challenging to control because they operate close to instability, where small variations in foot-terrain contact can rapidly destabilize locomotion. On rigid ter…
cs.RO2025
Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis
Kasidit Muenprasitivej, Ye Zhao, Glen Chou
We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility a…
cs.RO2025
STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain
Ziwon Yoon, Lawrence Y. Zhu, Jingxi Lu +2
Bipedal robots have advantages in maneuvering human-centered environments, but face greater failure risk compared to other stable mobile platforms such as wheeled or quadrupedal ro…