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cs.RO2026
GaitSpan: Growing Humanoid Locomotion from Walking to Running
Kwan-Yee Lin, Zilin Wang, Janelle J. Liu +1
A humanoid that can walk should not relearn locomotion from scratch to jog or run. Yet current approaches often obtain gait diversity by prescribing gait schedules, imitating motio…
cs.RO2021
An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights
Yusuke Tanaka, Yuki Shirai, Zachary Lacey +3
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can a…