An n-dimensional hybrid system embeds into a continuous vector field in m > 2n dimensions, enabling latent Neural ODEs with consistency losses to recover hybrid flows from time series.
A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
2 Pith papers cite this work. Polarity classification is still indexing.
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Pith papers citing it
abstract
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise in ground transportation, maritime platforms, and aerospace settings, and they introduce persistent time-varying disturbances that break the stationary-ground assumptions underlying conventional legged locomotion. This survey reviews the state of the art in modeling, state estimation, and control for legged robots in non-inertial environments. We summarize representative application domains and motion characteristics, analyze the root causes of locomotion performance degradation, and review existing methods together with their key assumptions and limitations. We further identify open problems in robot-environment coupling, observability, robustness, and experimental validation, and discuss future directions in autonomy, system-level design, bio-inspired strategies, safety, and testing. The survey aims to clarify the technical foundations of this emerging area and support the development of reliable legged robots for real-world dynamic environments.
years
2026 2verdicts
UNVERDICTED 2representative citing papers
LieIPM applies a structure-preserving interior point optimizer to rigid-body trajectory planning on Lie groups using variational integrators and closed-form intrinsic derivatives.
citing papers explorer
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LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies
LieIPM applies a structure-preserving interior point optimizer to rigid-body trajectory planning on Lie groups using variational integrators and closed-form intrinsic derivatives.