Cover Image

Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Ding, Jiayu, Jakkula, Rohit, Xiao, Tom, Gan, Zhenyu
Format:	Preprint
Published:	2025
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Breaking Symmetries Leads to Diverse Quadrupedal Gaits
by: Ding, Jiayu, et al.
Published: (2023)

CPG-Based Manipulation with Multi-Module Origami Robot Surface
by: Jiang, Yuhao, et al.
Published: (2025)

Towards Dynamic Quadrupedal Gaits: A Symmetry-Guided RL Hierarchy Enables Free Gait Transitions at Varying Speeds
by: Ding, Jiayu, et al.
Published: (2025)

Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion
by: Bellegarda, Guillaume, et al.
Published: (2022)

Kinodynamic Model Predictive Control for Energy Efficient Locomotion of Legged Robots with Parallel Elasticity
by: Zhuang, Yulun, et al.
Published: (2025)

Design and Control of Modular Magnetic Millirobots for Multimodal Locomotion and Shape Reconfiguration
by: Oyono, Erik Garcia, et al.
Published: (2026)

Surface-Based Manipulation with Modular Foldable Robots
by: Wang, Ziqiao, et al.
Published: (2025)

MARS-FTCP: Robust Fault-Tolerant Control and Agile Trajectory Planning for Modular Aerial Robot Systems
by: Huang, Rui, et al.
Published: (2025)

Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion using NMPC
by: Salagame, Adarsh, et al.
Published: (2025)

MARS-Dragonfly: Agile and Robust Flight Control of Modular Aerial Robot Systems
by: Huang, Rui, et al.
Published: (2026)

Vectorable Thrust Control for Multimodal Locomotion of Quadruped Robot SPIDAR
by: Zhao, Moju
Published: (2025)

Autonomous Locomotion Mode Transition in Quadruped Track-Legged Robots: A Simulation-Based Analysis for Step Negotiation
by: Wang, Jie, et al.
Published: (2019)

Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
by: Kamimura, Tomoya, et al.
Published: (2026)

Evaluating Robots Like Human Infants: A Case Study of Learned Bipedal Locomotion
by: Crowley, Devin, et al.
Published: (2025)

Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation
by: Crotti, Matteo, et al.
Published: (2024)

Benchmarking Model Predictive Control and Reinforcement Learning Based Control for Legged Robot Locomotion in MuJoCo Simulation
by: Akki, Shivayogi, et al.
Published: (2025)

Modular Safety Guardrails Are Necessary for Foundation-Model-Enabled Robots in the Real World
by: Kim, Joonkyung, et al.
Published: (2026)

Motion Design for Grasp-Based Dynamic Locomotion in Microgravity
by: Moon, Chaerim, et al.
Published: (2026)

Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
by: Tao, Chuyuan, et al.
Published: (2026)

SORS: A Modular, High-Fidelity Simulator for Soft Robots
by: Mekkattu, Manuel, et al.
Published: (2025)

MASH: Cooperative-Heterogeneous Multi-Agent Reinforcement Learning for Single Humanoid Robot Locomotion
by: Liu, Qi, et al.
Published: (2025)

16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits
by: Alqaham, Yasser G., et al.
Published: (2025)

SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion
by: He, Qu, et al.
Published: (2025)

Project-Based Learning for Robot Control Theory: A Robot Operating System (ROS) Based Approach
by: Farzan, Siavash
Published: (2023)

HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion
by: Iqbal, Amir, et al.
Published: (2024)

Advances in Hybrid Modular Climbing Robots: Design Principles and Refinement Strategies
by: Poon, Ryan, et al.
Published: (2025)

Relative Localization System Design for SnailBot: A Modular Self-reconfigurable Robot
by: Zhang, Shuhan
Published: (2025)

A Hierarchical Region-Based Approach for Efficient Multi-Robot Exploration
by: Meng, Di, et al.
Published: (2025)

Human Locomotion Implicit Modeling Based Real-Time Gait Phase Estimation
by: Ji, Yuanlong, et al.
Published: (2025)

Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing
by: Plozza, Davide, et al.
Published: (2025)

Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots
by: Lee, Joonho, et al.
Published: (2024)

Nonholonomic Robot Parking by Feedback -- Part I: Modular Strict CLF Designs
by: Todorovski, Velimir, et al.
Published: (2025)

Natural Locomotion: Principle and Method
by: Mortel, Mirado, et al.
Published: (2026)

Robust Self-Reconfiguration for Fault-Tolerant Control of Modular Aerial Robot Systems
by: Huang, Rui, et al.
Published: (2025)

Nussbaum Function Based Approach for Tracking Control of Robot Manipulators
by: Nohooji, Hamed Rahimi, et al.
Published: (2024)

Needle Biopsy And Fiber-Optic Compatible Robotic Insertion Platform
by: Wang, Fanxin, et al.
Published: (2025)

Leveraging Systems and Control Theory for Social Robotics: A Model-Based Behavioral Control Approach to Human-Robot Interaction
by: Patrício, Maria Morão, et al.
Published: (2025)

MRTA-Sim: A Modular Simulator for Multi-Robot Allocation, Planning, and Control in Open-World Environments
by: Tuck, Victoria Marie, et al.
Published: (2025)

Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion
by: Lee, Ho Jae, et al.
Published: (2024)

From Data to Safe Mobile Robot Navigation: An Efficient and Modular Robust MPC Design Pipeline
by: Benders, Dennis, et al.
Published: (2025)