Research
Robotics Research Publications
An open index of robotics research papers, refreshed daily.
papers in the database
LOCOMOTION papers(24,023)
Clear ✕Modeling, Analysis and Activation of Planar Viscoelastically-combined Rimless Wheels
Fumihiko Asano, Yuxuan Xiang, Yanqiu Zheng +1 more
2026
Simulator Adaptation for Sim-to-Real Learning of Legged Locomotion via Proprioceptive Distribution Matching
Jeremy Dao, Alan Fern
2026
Trajectory-based actuator identification via differentiable simulation
Vyacheslav Kovalev, Ekaterina Chaikovskaia, Egor Davydenko +1 more
2026
Natural Gradient Gaussian Approximation Filter on Lie Groups for Robot State Estimation
Tianyi Zhang, Wenhan Cao, Chang Liu +2 more
2026
GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion
Samuel C. Buckner, Purnanand Elango
2026
SafeMind: A Risk-Aware Differentiable Control Framework for Adaptive and Safe Quadruped Locomotion
Zukun Zhang, Kai Shu, Mingqiao Mo
2026
Musculoskeletal Motion Imitation for Learning Personalized Exoskeleton Control Policy in Impaired Gait
Itak Choi, Ilseung Park, Eni Halilaj +1 more
2026
Toward Hardware-Agnostic Quadrupedal World Models via Morphology Conditioning
Mohamad H. Danesh, Chenhao Li, Amin Abyaneh +5 more
2026
PriPG-RL: Privileged Planner-Guided Reinforcement Learning for Partially Observable Systems with Anytime-Feasible MPC
Mohsen Amiri, Mohsen Amiri, Ali Beikmohammadi +2 more
2026
Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU
Jeffrey Fang, Glen Chou
2026
Robust Quadruped Locomotion via Evolutionary Reinforcement Learning
Brian McAteer, Karl Mason
2026
A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization
Aastha Mishra, Aman Singh, Shishir Kolathaya
2026
LatentMimic: Terrain-Adaptive Locomotion via Latent Space Imitation
Zhiquan Wang, Yunyu Liu, Dipam Patel +3 more
2026
ZipFold: Modular Actuators for Scaleable Adaptive Robots
Niklas Hagemann, Daniela Rus
2026
Differentiable Invariant Sets for Hybrid Limit Cycles with Application to Legged Robots
Varun Madabushi, Akash Harapanahalli, Samuel Coogan +1 more
2026
Finite-Step Invariant Sets for Hybrid Systems with Probabilistic Guarantees
Varun Madabushi, Elizabeth Dietrich, Hanna Krasowski +1 more
2026
RK-MPC: Residual Koopman Model Predictive Control for Quadruped Locomotion in Offroad Environments
Sriram S. K. S. Narayanan, Umesh Vaidya
2026
Do Robots Need Body Language? Comparing Communication Modalities for Legible Motion Intent in Human-Shared Spaces
Jonathan Albert Cohen, Kye Shimizu, Allen Song +3 more
2026
Neural Operators for Multi-Task Control and Adaptation
David Sewell, Xingjian Li, Stepan Tretiakov +2 more
2026
Learning-Based Fault Detection for Legged Robots in Remote Dynamic Environments
Abriana Stewart-Height, Seema Jahagirdar, Nikolai Matni
2026
Coupled Control, Structured Memory, and Verifiable Action in Agentic AI (SCRAT -- Stochastic Control with Retrieval and Auditable Trajectories): A Comparative Perspective from Squirrel Locomotion and Scatter-Hoarding
Maximiliano Armesto, Christophe Kolb
2026
Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots
Ruturaj S. Sambhus, Yicheng Zeng, Kapi Ketan Mehta +2 more
2026
FSUNav: A Cerebrum-Cerebellum Architecture for Fast, Safe, and Universal Zero-Shot Goal-Oriented Navigation
Mingao Tan, Yiyang Li, Shanze Wang +2 more
2026
Learning Task-Invariant Properties via Dreamer: Enabling Efficient Policy Transfer for Quadruped Robots
Junyang Liang, Yuxuan Liu, Yabin Chang +5 more
2026