Research
Robotics Research Publications
An open index of robotics research papers, refreshed daily.
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papers in the database
LOCOMOTION papers(24,313)
Clear ✕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
Learning Locomotion on Complex Terrain for Quadrupedal Robots with Foot Position Maps and Stability Rewards
Matthew Hwang, Yubin Liu, Ryo Hakoda +1 more
2026
Inverse Safety Filtering: Inferring Constraints from Safety Filters for Decentralized Coordination
Minh Nguyen, Jingqi Li, Gechen Qu +1 more
2026
From Impact to Insight: Dynamics-Aware Proprioceptive Terrain Sensing on Granular Media
Yifeng Zhang, Yue Wu, Jake Futterman +5 more
2026
A Dynamic Toolkit for Transmission Characteristics of Precision Reducers with Explicit Contact Geometry
Jiacheng Miao, Chao Liu, Qiliang Wang +2 more
2026
Collaborative Task and Path Planning for Heterogeneous Robotic Teams using Multi-Agent PPO
Matthias Rubio, Julia Richter, Hendrik Kolvenbach +1 more
2026
A Physical Imitation Learning Pipeline for Energy-Efficient Quadruped Locomotion Assisted by Parallel Elastic Joint
Huyue Ma, Yurui Jin, Helmut Hauser +1 more
2026
Phase Relationship between Spinal Motion and Limb Support Determines High-speed Running Performance in a Cheetah Model with Asymmetric Spinal Stiffness
Tomoya Kamimura, Yuya Oshita, Mau Adachi +5 more
2026
CReF: Cross-modal and Recurrent Fusion for Depth-conditioned Humanoid Locomotion
Yuan Hao, Ruiqi Yu, Shixin Luo +3 more
2026
Interacting Multiple Model Proprioceptive Odometry for Legged Robots
Wanlei Li, Zichang Chen, Shilei Li +2 more
2026