Biped robots with passive springs learn high-performance locomotion more efficiently via model-based RL by exploiting natural limit cycles from dynamic body-ground interactions.
Compliant leg behaviour explains basic dynamics of walking and running,
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
Simulation of two quadruped morphologies shows that larger feasible contact wrench spaces and reduced impulsive whole-body dynamics improve stability and lower actuation demand for grasp-based locomotion in microgravity.
citing papers explorer
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Model-Based Reinforcement Learning Exploits Passive Body Dynamics for High-Performance Biped Robot Locomotion
Biped robots with passive springs learn high-performance locomotion more efficiently via model-based RL by exploiting natural limit cycles from dynamic body-ground interactions.
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Motion Design for Grasp-Based Dynamic Locomotion in Microgravity
Simulation of two quadruped morphologies shows that larger feasible contact wrench spaces and reduced impulsive whole-body dynamics improve stability and lower actuation demand for grasp-based locomotion in microgravity.