Cover Image

Surrogate compliance modeling enables reinforcement learned locomotion gaits for soft robots

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Wang, Jue, Jiang, Mingsong, Ramirez, Luis A., Yang, Bilige, Zhang, Mujun, Figueroa, Esteban, Yan, Wenzhong, Kramer-Bottiglio, Rebecca
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

Stretchable Arduinos embedded in soft robots
by: Woodman, Stephanie J., et al.
Published: (2024)

Contact-conditioned learning of multi-gait locomotion policies
by: Ciebielski, Michal, et al.
Published: (2024)

Bistable SMA-driven engine for pulse-jet locomotion in soft aquatic robots
by: Bedenik, Graziella, et al.
Published: (2025)

Bi-stable thin soft robot for in-plane locomotion in narrow space
by: Wang, Xi, et al.
Published: (2024)

Decreasing the Cost of Morphing in Adaptive Morphogenetic Robots
by: Luis A. Ramirez, et al.
Published: (2025)

Decreasing the Cost of Morphing in Adaptive Morphogenetic Robots
by: Luis A. Ramirez, et al.
Published: (2025)

Behavior evolution-inspired approach to walking gait reinforcement training for quadruped robots
by: Wang, Yu, et al.
Published: (2024)

Reconciling distributed compliance with high-performance control in continuum soft robotics
by: Perfetta, Vito Daniele, et al.
Published: (2026)

Impact-resistant, autonomous robots inspired by tensegrity architecture
by: Johnson III, William R., et al.
Published: (2025)

Koopman global linearization of contact dynamics for robot locomotion and manipulation enables elaborate control
by: O'Neill, Cormac, et al.
Published: (2025)

Agile legged locomotion in reconfigurable modular robots
by: Yu, Chen, et al.
Published: (2025)

Model-agnostic Meta-learning for Adaptive Gait Phase and Terrain Geometry Estimation with Wearable Soft Sensors
by: Zhu, Zenan, et al.
Published: (2025)

A variational approach to geometric mechanics for undulating robotic locomotion
by: Even, Sean, et al.
Published: (2024)

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

Water entry locomotion strategy for a stranding bionic robotic fish
by: Huijie Dong, et al.
Published: (2024)

CableRobotGraphSim: A Graph Neural Network for Modeling Partially Observable Cable-Driven Robot Dynamics
by: Chen, Nelson, et al.
Published: (2026)

Modeling multi-legged robot locomotion with slipping and its experimental validation
by: Wu, Ziyou, et al.
Published: (2023)

Model-based optimisation for the personalisation of robot-assisted gait training
by: Christou, Andreas, et al.
Published: (2025)

Terrain characterization and locomotion adaptation in a small-scale lizard-inspired robot
by: Andrews, Duncan, et al.
Published: (2026)

Quantum deep reinforcement learning for humanoid robot navigation task
by: Lokossou, Romerik, et al.
Published: (2025)

Learning Differentiable Tensegrity Dynamics using Graph Neural Networks
by: Chen, Nelson, et al.
Published: (2024)

Diffusion-based learning of contact plans for agile locomotion
by: Dhédin, Victor, et al.
Published: (2024)

Rod models in continuum and soft robot control: a review
by: Alessi, Carlo, et al.
Published: (2024)

FlipWalker: Jacob's Ladder toy-inspired robot for locomotion across diverse, complex terrain
by: Li, Diancheng, et al.
Published: (2025)

Bioinspired underwater soft robots: from biology to robotics and back
by: Li, Lei, et al.
Published: (2025)

Discovery of skill switching criteria for learning agile quadruped locomotion
by: Yu, Wanming, et al.
Published: (2025)

Adding internal audio sensing to internal vision enables human-like in-hand fabric recognition with soft robotic fingertips
by: Andrussow, Iris, et al.
Published: (2026)

Snake locomotion learning search
by: He, Sheng-Xue
Published: (2025)

Real-time simulation enabled navigation control of magnetic soft continuum robots in confined lumens
by: Tong, Dezhong, et al.
Published: (2025)

Task-oriented grasping for dexterous robots using postural synergies and reinforcement learning
by: Dimou, Dimitrios, et al.
Published: (2026)

Physical synchronization of soft self-oscillating limbs for fast and autonomous locomotion
by: Comoretto, Alberto, et al.
Published: (2024)

State and Trajectory Estimation of Tensegrity Robots via Factor Graphs and Chebyshev Polynomials
by: Granados, Edgar, et al.
Published: (2026)

Learning, locomotion, and navigation of soft synthetic snakes in three-dimensional, heterogeneous environments
by: Zhang, Xiaotian, et al.
Published: (2026)

Agile and versatile bipedal robot tracking control through reinforcement learning
by: Li, Jiayi, et al.
Published: (2024)

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

Improving generalization of robot locomotion policies via Sharpness-Aware Reinforcement Learning
by: Bochem, Severin, et al.
Published: (2024)

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

Toward generic control for soft robotic systems
by: Sun, Yu, et al.
Published: (2025)

The weak relationship between ankle proprioception and gait speed after stroke a robotic assessment study
by: Johnson, Christopher A., et al.
Published: (2024)

Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes
by: He, Juntao, et al.
Published: (2024)