2 papers
cs.RO2026
Learning to Exploit Passive Dynamics for Energy-Efficient Target Hopping of a Spring-Legged Quadcopter
Ruigang Chen, Qi Zhang, Zhicheng Zhong +3
Combining aerial thrust with spring-loaded hopping makes monopedal quadcopters promising for locomotion over complex terrain, but heuristic proportional-integral-derivative (PID) t…
cs.RO2026
Dynamics-Informed Reinforcement Learning for Agile and Energy-Efficient Locomotion of a Monopedal Hopping Quadcopter
Ruigang Chen, Qi Zhang, Zhicheng Zhong +3
Although aerial-legged robots offer combined agility and efficiency, controlling high-speed hopping under complex hybrid dynamics is challenging. Reinforcement Learning (RL) is pro…