2 papers
cs.RO2025
Towards Dynamic Quadrupedal Gaits: A Symmetry-Guided RL Hierarchy Enables Free Gait Transitions at Varying Speeds
Jiayu Ding, Xulin Chen, Garrett E. Katz +1
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down…
cs.RO2025
Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion
Jiayu Ding, Rohit Jakkula, Tom Xiao +1
Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each modul…