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cs.RO2026
Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
Tomoya Kamimura, Haruka Washiyama, Akihito Sano
Embodiment is a significant keyword in recent machine learning fields. This study focused on the passive nature of the body of a biped robot to generate walking and running locomot…
eess.SY2026
Phase Relationship between Spinal Motion and Limb Support Determines High-speed Running Performance in a Cheetah Model with Asymmetric Spinal Stiffness
Tomoya Kamimura, Yuya Oshita, Mau Adachi +5
Cheetahs are characterized by large spinal flexion and extension during high-speed running, yet the dynamical role of the phase relationship between spinal motion and limb support…