3 papers
cs.RO2026
Dual-Horizon Hybrid Internal Model for Low-Gravity Quadrupedal Jumping with Hardware-in-the-Loop Validation
Haozhe Xu, Yifei Zhao, Wenhao Feng +6
Locomotion under reduced gravity is commonly realized through jumping, yet continuous pronking in lunar gravity remains challenging due to prolonged flight phases and sparse ground…
cs.RO2026
Autonomous UAV-Quadruped Docking in Complex Terrains via Active Posture Alignment and Constraint-Aware Control
Haozhe Xu, Cheng Cheng, Hongrui Sang +4
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose lim…
cs.RO2026
HAFO: A Force-Adaptive Control Framework for Humanoid Robots in Intense Interaction Environments
Chenhui Dong, Haozhe Xu, Wenhao Feng +4
Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion cont…