:: Library Catalog

Cover Image

Saved in:

Bibliographic Details
Main Authors:	Kumar, Suraj, Ruina, Andy
Format:	Preprint
Published:	2025
Subjects:	Robotics Systems and Control
Online Access:	https://arxiv.org/abs/2511.00512
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Capture Point Control in Thruster-Assisted Bipedal Locomotion
by: Pitroda, Shreyansh, et al.
Published: (2024)

Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
by: Li, Zhongyu, et al.
Published: (2024)

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

Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
by: Colombo, Leonardo, et al.
Published: (2026)

Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
by: Xiang, Zhaoyang, et al.
Published: (2024)

Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer
by: Chen, Qianzhong, et al.
Published: (2024)

Dynamic Modeling and Attitude Control of a Reaction-Wheel-Based Low-Gravity Bipedal Hopper
by: Hari, Shriram, et al.
Published: (2026)

Design and Control of a Bio-inspired Wheeled Bipedal Robot
by: Zhao, Haizhou, et al.
Published: (2023)

Adaptive Legged Locomotion via Online Learning for Model Predictive Control
by: Zhou, Hongyu, et al.
Published: (2025)

Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain
by: Karakasis, Chrysostomos, et al.
Published: (2022)

Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control
by: Shi, Yapeng, et al.
Published: (2025)

Cost-Matching Model Predictive Control for Efficient Reinforcement Learning in Humanoid Locomotion
by: Cai, Wenqi, et al.
Published: (2026)

RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion
by: Kang, Dongho, et al.
Published: (2023)

Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
by: Peng, Chengyang, et al.
Published: (2024)

Decoupled Thrust-Axis Attitude Control Using Quaternions for Chandrayaan-3 Lunar Landing Mission
by: Rallapalli, Aditya, et al.
Published: (2026)

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

Multi-Momentum Observer Contact Estimation for Bipedal Robots
by: Payne, J. Joe, et al.
Published: (2024)

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

Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations
by: Ma, Chengtian, et al.
Published: (2025)

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

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

DreamFLEX: Learning Fault-Aware Quadrupedal Locomotion Controller for Anomaly Situation in Rough Terrains
by: Lee, Seunghyun, et al.
Published: (2025)

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

Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery
by: Forghani, Kimia, et al.
Published: (2025)

Ground and Flight Locomotion for Two-Wheeled Drones via Model Predictive Path Integral Control
by: Kojima, Gosuke, et al.
Published: (2025)

Extended Hybrid Zero Dynamics for Bipedal Walking of the Knee-less Robot SLIDER
by: Zong, Rui, et al.
Published: (2025)

System Identification of Thrust and Torque Characteristics for a Bipedal Robot with Integrated Propulsion
by: Cahill, Thomas
Published: (2025)

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing
by: Wang, Tianze, et al.
Published: (2025)

Continuous Dynamic Bipedal Jumping via Real-time Variable-model Optimization
by: Li, Junheng, et al.
Published: (2024)

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

Bilevel Optimization for Real-Time Control with Application to Locomotion Gait Generation
by: Olkin, Zachary, et al.
Published: (2024)

Self-Sustained And Coordinated Rhythmic Deformations With SMA For Controller-Free Locomotion
by: Zhou, Ziyang, et al.
Published: (2023)

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

MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
by: Schperberg, Alexander, et al.
Published: (2025)

Bipedal Robot Running: Human-like Actuation Timing Using Fast and Slow Adaptations
by: Sakurai, Yusuke, et al.
Published: (2023)

A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
by: Esteban, Sergio A., et al.
Published: (2025)

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

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

Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments
by: Dosunmu-Ogunbi, Oluwami, et al.
Published: (2024)

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