3 papers
cs.RO2026
Breaking speed scaling in quadrupedal robots via Huygens' coupled-pendulum dynamics
Yucheng Tao, Yongbin Jin, Shaowen Cheng +8
Achieving biological-level running speeds has largely been pursued through advances in control algorithms, which improve the utilization of existing hardware. However, the ultimate…
cs.RO2026
Extending the Speed Limit of Quadrupedal Locomotion via Refined Actuator Modeling and Adaptive Command Scheduling
Yucheng Tao, Shaowen Cheng, Guorong Lan +3
Achieving high-speed locomotion in quadrupedal robots remains highly challenging, as actuators operate near their physical limits and exhibit pronounced nonlinearities. However, ma…
cs.RO2026
PGMT: Perceptive General Motion Tracking for Humanoid Robots
Hongyi Li, Li Peizhuo, Yucheng Tao +9
Humanoid motion trackers can reproduce diverse whole-body motions, but their performance degrades on complex terrain where terrain-agnostic references become physically infeasible.…