A quadruped robot with a three-degree-of-freedom active spine reaches 6.9 m/s top speed and 7.2 rad/s turning rate via an RL framework that rewards spine engagement and gallop gaits.
High-speed control and navigation for quadrupedal robots on complex and discrete terrain,
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
Empirical comparison of blind, critic-perceptive, and fully perceptive variants of morphology-aware RL locomotion controllers shows critic-only perception improves robustness over blind baselines while remaining more stable under perception noise than full perception.
citing papers explorer
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S-Cheetah: A Novel Quadrupedal Robot with a 3-DOF Active Spine Learning Agile Locomotion
A quadruped robot with a three-degree-of-freedom active spine reaches 6.9 m/s top speed and 7.2 rad/s turning rate via an RL framework that rewards spine engagement and gallop gaits.
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Learning Perceptive Platform Adaptive Locomotion Controllers for Quadrupedal Robots
Empirical comparison of blind, critic-perceptive, and fully perceptive variants of morphology-aware RL locomotion controllers shows critic-only perception improves robustness over blind baselines while remaining more stable under perception noise than full perception.