3 papers
cs.RO2026
Allometric Scaling Laws for Bipedal Robots
Naomi Oke, Aja M. Carter, Ben Gu +4
Scaling the design of robots up or down remains a fundamental challenge. While biological systems follow well-established isometric and allometric scaling laws relating mass, strid…
cs.RO2025
How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints
Kensuke Nakamura, Arun L. Bishop, Steven Man +3
Latent safety filters extend Hamilton-Jacobi (HJ) reachability to operate on latent state representations and dynamics learned directly from high-dimensional observations, enabling…
cs.RO2025
Zippy: The smallest power-autonomous bipedal robot
Steven Man, Soma Narita, Josef Macera +3
Miniaturizing legged robot platforms is challenging due to hardware limitations that constrain the number, power density, and precision of actuators at that size. By leveraging des…