Cover Image

Comparison between External and Internal Single Stage Planetary gearbox actuators for legged robots

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Singh, Aman, Kapa, Deepak, Chedda, Prasham, Kolathaya, Shishir N. Y.
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

COMPAct: Computational Optimization and Automated Modular design of Planetary Actuators
by: Singh, Aman, et al.
Published: (2025)

A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling
by: Singh, Aman, et al.
Published: (2025)

A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization
by: Mishra, Aastha, et al.
Published: (2026)

DTEA: A Dual-Topology Elastic Actuator Enabling Real-Time Switching Between Series and Parallel Compliance
by: Ramesh, Vishal, et al.
Published: (2026)

A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis
by: Singh, Aman, et al.
Published: (2025)

BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains
by: Mothish, GVS, et al.
Published: (2024)

Fixed time convergence guarantees for Higher Order Control Barrier Functions
by: K, Janani S, et al.
Published: (2025)

Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
by: Tayal, Manan, et al.
Published: (2023)

Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments
by: Tayal, Manan, et al.
Published: (2023)

Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
by: Tayal, Manan, et al.
Published: (2023)

MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion
by: Kurva, Vamshi Kumar, et al.
Published: (2025)

VIP-Loco: A Visually Guided Infinite Horizon Planning Framework for Legged Locomotion
by: Shirwatkar, Aditya, et al.
Published: (2026)

MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control
by: Tayal, Manan, et al.
Published: (2025)

Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates
by: Tayal, Manan, et al.
Published: (2024)

Safety Certification in the Latent space using Control Barrier Functions and World Models
by: Anand, Mehul, et al.
Published: (2025)

Investigating Lagrangian Neural Networks for Infinite Horizon Planning in Quadrupedal Locomotion
by: Kotecha, Prakrut, et al.
Published: (2025)

Data-Driven Physics Embedded Dynamics with Predictive Control and Reinforcement Learning for Quadrupeds
by: Kotecha, Prakrut, et al.
Published: (2026)

Neural Control Barrier Functions from Physics Informed Neural Networks
by: Agrawal, Shreenabh, et al.
Published: (2025)

CP-NCBF: A Conformal Prediction-based Approach to Synthesize Verified Neural Control Barrier Functions
by: Tayal, Manan, et al.
Published: (2025)

A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems
by: Tayal, Manan, et al.
Published: (2025)

Discrete time model predictive control for humanoid walking with step adjustment
by: Joshi, Vishnu, et al.
Published: (2024)

Real-Time Gait Adaptation for Quadrupeds using Model Predictive Control and Reinforcement Learning
by: Kotecha, Prakrut, et al.
Published: (2025)

STRIDE: Structured Lagrangian and Stochastic Residual Dynamics via Flow Matching
by: Kotecha, Prakrut, et al.
Published: (2026)

Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions
by: Singh, Aditya, et al.
Published: (2025)

V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions
by: Tayal, Mumuksh, et al.
Published: (2025)

PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion
by: Shirwatkar, Aditya, et al.
Published: (2024)

Pinto: A latched spring actuated robot for jumping and perching
by: Xu, Christopher Y., et al.
Published: (2024)

Energy-Efficient Quadruped Locomotion with Compliant Feet
by: Pal, Pramod, et al.
Published: (2026)

Learning a Formally Verified Control Barrier Function in Stochastic Environment
by: Tayal, Manan, et al.
Published: (2024)

Geometry-based pneumatic actuators for soft robotics
by: Chen, Rui, et al.
Published: (2026)

Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
by: Agarwal, Aryan, et al.
Published: (2024)

Untethered thin dielectric elastomer actuated soft robot
by: Wang, Xi, et al.
Published: (2025)

Signal Temporal Logic Compliant Co-design of Planning and Control
by: Juvvi, Manas Sashank, et al.
Published: (2025)

Design, modeling, and characteristics of ringshaped robot actuated by functional fluid
by: Mao, Zebing, et al.
Published: (2024)

Design, manufacturing, and inverse dynamic modeling of soft parallel robots actuated by dielectric elastomer actuators
by: Chang, Jung-Che, et al.
Published: (2024)

The Robot of Theseus: A modular robotic testbed for legged locomotion
by: Urs, Karthik, et al.
Published: (2025)

A Collision Cone Approach for Control Barrier Functions
by: Tayal, Manan, et al.
Published: (2024)

Multilaminate piezoelectric PVDF actuators to enhance performance of soft micro robots
by: Gunter, Nicholas, et al.
Published: (2025)

Electrically-driven phase transition actuators to power soft robot designs
by: Fonseca, Diogo, et al.
Published: (2024)

A two-speed actuator for robotics with fast seamless gear shifting
by: Girard, Alexandre, et al.
Published: (2024)