3 papers
cs.RO2026
When to Waddle: A Comparative Study of Bipedal Torso-Stabilization on Low-Friction Surfaces
Ben Gu, Naomi Oke, George Ortiz +4
Low-friction surfaces challenge bipedal locomotion by limiting the contact forces available during stepping. Inspired by penguin waddling, we investigate how lateral torso motion a…
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
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…