2 papers
cs.RO2026
When to Waddle: A Comparative Study of Bipedal Torso-Stabilization on Low-Friction Surfaces
Ben Gu, Naomi Oke, George Ortiz +4
Low-friction surfaces challenge bipedal locomotion by limiting the contact forces available during stepping. Inspired by penguin waddling, we investigate how lateral torso motion a…
cs.RO2026
Duty Factor Predicts Robust Constrained Quadrupedal Locomotion Across Gait Types
James Zhu, David Ologan, George Ortiz +5
Quadrupedal robots are increasingly deployed in environments where locomotion must remain robust to disturbances and constrained terrain. Gait type, such as walking or trotting, is…