Robot locomotion
Related papers: 20
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Robot locomotion refers to the methods and mechanisms by which robots generate and control movement through their environment. Drawing from biological inspiration and engineering principles, it encompasses a vast range of motion strategies—including legged walking and running, snake-like serpentine crawling, swimming, climbing, and soft-body actuation—each suited to different terrains and tasks. In robotics and AI, locomotion research focuses on designing physical hardware (such as compliant limbs, elastic joints, or flexible bodies) alongside control algorithms that coordinate movement effectively. Approaches range from passive-dynamic walkers that exploit gravity and mechanics without motors, to sophisticated model-predictive controllers governing quadrupeds like the MIT Cheetah, to biologically inspired central pattern generators that produce rhythmic gaits. Soft robots mimic creatures like caterpillars, inchworms, and fish to navigate constrained or delicate environments rigid robots cannot. Locomotion is foundational because mobility unlocks a robot's ability to operate in complex, real-world settings—search-and-rescue, inspection, exploration, and assistive applications. Advances in efficient, robust, and adaptable locomotion directly expand where and how robots can be deployed autonomously.
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Top Cited Papers
Efficient Bipedal Robots Based on Passive-Dynamic Walkers
Steven H. Collins, Andy Ruina, Russ Tedrake, Martijn Wisse
Citations: 1878 • 2005
Feedback Control of Dynamic Bipedal Robot Locomotion
E. R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris
Citations: 1093 • 2010
Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators
Andrew D. Marchese, Çağdaş D. Önal, Daniela Rus
Citations: 915 • 2014
Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control
Jared Di Carlo, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, Sangbae Kim
Citations: 717 • 2018
MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot
Gerardo Bledt, Matthew J. Powell, Benjamin Katz, Jared Di Carlo, Patrick M. Wensing, Sangbae Kim
Citations: 709 • 2018
GoQBot: a caterpillar-inspired soft-bodied rolling robot
Huai-Ti Lin, Gary G. Leisk, Barry A. Trimmer
Citations: 682 • 2011
Virtual Model Control: An Intuitive Approach for Bipedal Locomotion
Jerry Pratt, Chee–Meng Chew, Ann L. Torres, P. Dilworth, Gill A. Pratt
Citations: 550 • 2001
Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control
Benjamin Katz, Jared Di Carlo, Sangbae Kim
Citations: 540 • 2019
Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot
Sangok Seok, Albert Wang, Meng Yee Chuah, David M. Otten, Jeffrey H. Lang, Sangbae Kim
Citations: 433 • 2013
Biologically inspired climbing with a hexapedal robot
Matthew Spenko, G. Clark Haynes, J. A. Saunders, Mark R. Cutkosky, A.A. Rizzi, Robert J. Full, D. E. Koditschek
Citations: 425 • 2008
Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot
Alexander Badri–Spröwitz, Alexandre Tuleu, Massimo Vespignani, Mostafa Ajallooeian, Emilie Badri, Auke Jan Ijspeert
Citations: 421 • 2013
Three Uses for Springs in Legged Locomotion
R. McN. Alexander
Citations: 406 • 1990
The kinematics of hyper-redundant robot locomotion
Gregory S. Chirikjian, Joel W. Burdick
Citations: 398 • 1995
Serpentine locomotion with robotic snakes
Misa Sato, Masashi Fukaya, Tetsuya Iwasaki
Citations: 394 • 2002
AmphiBot I: an amphibious snake-like robot
Alessandro Crespi, André Badertscher, André Guignard, Auke Jan Ijspeert
Citations: 333 • 2004
Online Optimization of Swimming and Crawling in an Amphibious Snake Robot
Alessandro Crespi, Auke Jan Ijspeert
Citations: 331 • 2008
Snake-like robots [Tutorial]
Shigeo Hirose, Hiroya Yamada
Citations: 308 • 2009
Biomimetic Locomotion of Electrically Powered “Janus” Soft Robots Using a Liquid Crystal Polymer
Yao‐Yu Xiao, Zhi‐Chao Jiang, Xia Tong, Yue Zhao
Citations: 294 • 2019
Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation
Ayush Agrawal, Koushil Sreenath
Citations: 288 • 2017
Design and Locomotion Control of a Biomimetic Underwater Vehicle With Fin Propulsion
Chunlin Zhou, K. H. Low
Citations: 284 • 2011