Pith. sign in

REVIEW 2 major objections 54 references

Analysis of Harpy's Constrained Trotting and Jumping Maneuver

T0 review · 2 major / 0 minor · reviewed 2026-08-05 · deepseek-v4-flash

Challenge this review Re-run · record.json Download PDF Read on arXiv ↗ Review JSON

Pith's one-line read Harpy's stable trotting and jumping comes from a leg-thruster division of labor: legs supply propulsion, thrusters control the aerial phase.

desk verdict The Harpy paper as submitted contains none of the Harpy analysis—the full text is an unrelated statistics paper—so the robot claims are unverifiable; the abstract alone is not enough. read the letter →

arxiv 2508.18139 v1 pith:CDEFP2FJ submitted 2025-08-25 cs.RO

Prathima Ananda Kumar This is my paper · ORCID
classification cs.RO
keywords Harpyrobotthruster-assistedbipedhybridleg-thrusterlocomotiontrottingjumpingaerialphasecontrolunderactuatedstabilityfootplacement
verification ladder T0 review T1 audit T2 compute T3 formal

The pith

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

The reading

This paper analyzes experimental data from a thruster-assisted bipedal robot named Harpy to find what makes hybrid leg-thruster locomotion stable. It claims that trotting and jumping share a common pattern: joint trajectories stay bounded, foot placement stays accurate, and coordination between legs and thrusters keeps the robot balanced. The proposed division of labor is that legs provide the primary propulsion while thrusters add control during the aerial phase, with low joint torques and symmetric tracking. If the claim is right, it matters because it gives a concrete reason to build legged robots with modest thrusters for flight-phase corrections rather than using thrusters as the main driver. The supplied full text is a different manuscript, so this summary rests on the abstract alone.

What carries the argument

The central mechanism is 'leg-thruster synergy': the legs supply primary propulsion while thrusters provide additional control during aerial phases. The analysis uses bounded joint trajectories, consistent foot placement, torque levels, symmetry of joint tracking, and energy decomposition to show that this phase-specific division of labor is what prevents divergence in the underactuated degrees of freedom.

What would settle it

Inspect the supplied full text for any mention of Harpy, thrusters, joint trajectories, foot placement, or trial counts. If none appears, the abstract's claims about leg-thruster synergy have no documented evidence in this text.

Watch

Extended reading notes

Core claim

On the terms of this paper, the central discovery is that Harpy's hybrid actuation—legs plus thrusters—keeps locomotion stable because the two actuators take distinct roles. Data across trotting and jumping modes show bounded joint trajectories, low and symmetric joint torques, and foot placement that stays within kinematic constraints even when phase transitions perturb the system. Underactuated degrees of freedom remain bounded rather than diverging. Energy analysis points to the legs as the main propulsion source and the thrusters as the enabler of extra aerial-phase control, and repeatable, symmetric trials indicate the coordination is systematic. The paper therefore establishes leg-thru

Load-bearing premise

The abstract's conclusions assume the experimental data and analysis methods it refers to are accurate and complete; the supplied full text is a different manuscript, so none of that data, no sensor details, no trial counts, and no control scheme appear in this document.

Editorial extensions

If this is right

  • Harpy's stable trotting and jumping can be reproduced by treating legs as the propulsion source and thrusters as aerial-phase trim, not as primary drivers.
  • Accurate foot placement despite phase-transition perturbations means controller design should pay attention to the transitions, not just the nominal gait.
  • Underactuated degrees of freedom can remain bounded without full actuation, easing hardware requirements for similar legged robots.
  • Repeatability and symmetry across trials suggest the hybrid actuation strategy is systematic rather than incidental.

Reading between the lines

Editorial extensions of the paper, not claims the author makes directly.

  • If the paper is right, a design consequence is that thrusters on legged robots can be sized for short aerial corrections instead of sustained thrust, which would cut energy and weight budgets.
  • A reader might extend the claim: phase-timing experiments that vary flight duration should change foot-placement error patterns if the aerial-phase control role is real.
  • A concrete ablation: switch off the thrusters during a jump while keeping leg commands identical; the paper's account predicts divergence in the underactuated degrees of freedom during the aerial phase.
  • The supplied full text is a different manuscript, so the data behind these claims are not in this document; the original dataset would be needed to check them.
Share X Bluesky LinkedIn Reddit HN

Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, and a circularity audit.

Referee Report

2 major / 0 minor

Summary. The manuscript, as identified by its title and abstract, claims to present an experimental data analysis of the thruster-assisted bipedal robot Harpy, concluding that stable trotting and jumping with bounded trajectories and consistent foot placement result from strategic leg-thruster synergy. The abstract further reports low joint torques, symmetric tracking, underactuated-degree-of-freedom stability without divergence, and legs providing primary propulsion. However, the submitted full text beginning on page 1 is an entirely different paper: 'Estimating the average treatment effect in cluster-randomized trials with misclassified outcomes and non-random validation subsets' (arXiv:2508.18137v2). The body contains no mention of Harpy, no robot model, no experimental protocol, no sensor or trial-count information, no control scheme, and no foot-placement, torque, or energy analysis. Thus, for every assertion in the abstract, the accompanying manuscript supplies no evidence.

Significance. If the Harpy analysis were present and correct, the findings could be of significant interest to the legged-robotics community, particularly the proposed leg-thruster synergy and the phase-specific body-leg coupling during aerial phases. However, as submitted, the paper contains no verifiable Harpy content. There are no machine-checked proofs, reproducible code, or falsifiable predictions for the actual claim; the only reproducibility artifacts referenced belong to the unrelated cluster-randomized-trial manuscript. The significance of the stated result therefore cannot be assessed from the submitted text.

major comments (2)
  1. [Full text (all sections)] The complete body of the manuscript—including the title, numbered sections, equations (1)–(26), Tables 1–3, figures, and references—is the causal-inference paper arXiv:2508.18137v2. None of this material concerns Harpy or any other robotic system. Because the central claim in the abstract is supported solely by this absent content, there is no experimental setup, data-set description, or method of analysis to check. This is a load-bearing content mismatch, not a local presentation issue.
  2. [Abstract] Every substantive assertion in the abstract—'stable locomotion with bounded trajectories', 'consistent foot placement', 'low torques and symmetric tracking', 'underactuated degree-of-freedom stability without divergence', and 'legs provide primary propulsion'—is qualitative and has no corresponding derivation, figure, or data table in the manuscript. There is no equation defining 'bounded trajectories' or 'symmetric tracking', no trial count, no sensor-accuracy description, and no statistical or dynamic analysis. Thus the stated results are unverifiable from the submitted text.

Circularity Check

0 steps flagged · score 0.0 of 10

No derivation chain is present in the supplied text; the full text is an unrelated statistics paper, so no circular reduction can be identified.

full rationale

The abstract claims data analysis of Harpy trotting/jumping, but the full text supplied is 'Estimating the average treatment effect in cluster-randomized trials...' (arXiv:2508.18137v2). It contains no equations, sensor descriptions, control schemes, or foot-placement/torque/energy analyses pertaining to Harpy. Therefore there is no derivation chain whose outputs can be compared to inputs under any of the enumerated circularity patterns (self-definition, fitted-input-called-prediction, self-citation chain, ansatz-by-citation, renaming). Per the hard rule, circularity may only be claimed when a specific reduction can be quoted (Eq. X = Eq. Y by construction etc.); none can be exhibited. The appropriate finding is therefore no significant circularity (score 0). The mismatch is a content/verifiability problem, not a circularity problem: the abstract's claims are unsupported in the supplied text, but lack of support is a correctness risk, not evidence that a prediction reduces to a fit or that a conclusion is imported from a self-citation.

Assumptions & free parameters 0 free parameters · 0 assumptions · 0 invented entities

From the abstract alone, no parameters, axioms, or invented entities can be identified. The full text is an unrelated statistics manuscript and does not inform the Harpy analysis. The ledger is empty because there is no underlying technical content to audit.

how reviews work

0 comments
Cite this review

Pith. "Pith review of Analysis of Harpy's Constrained Trotting and Jumping Maneuver." pith.science (2026). https://pith.science/paper/CDEFP2FJ

@misc{pith2026250818139,
  author       = {Pith},
  title        = {Pith review of: Analysis of Harpy's Constrained Trotting and Jumping Maneuver},
  year         = {2026},
  howpublished = {\url{https://pith.science/paper/CDEFP2FJ}},
  note         = {Machine review of arXiv:2508.18139}
}
read the original abstract

This study presents an analysis of experimental data from Harpy, a thruster-assisted bipedal robot developed at Northeastern University. The study examines data sets from trotting and jumping experiments to understand the fundamental principles governing hybrid leg-thruster locomotion. Through data analysis across multiple locomotion modes, this research reveals that Harpy achieves stable locomotion with bounded trajectories and consistent foot placement through strategic leg-thruster synergy. The results demonstrate controlled joint behavior with low torques and symmetric tracking, accurate foot placement within kinematic constraints despite phase-transition perturbations, and underactuated degree-of-freedom stability without divergence. Energy level analysis reveals that legs provide primary propulsion, while the thrusters enable additional aerial phase control. The analysis identifies critical body-leg coupling dynamics during aerial phases that require phase-specific control strategies. Consistent repeatability and symmetry across experiments validate the robustness of the hybrid actuation approach.

Discussion (0). Continue with ORCID to comment.

Reference graph

Works this paper leans on

54 extracted references · 54 canonical work pages

  1. [1]

    Pitroda, A

    S. Pitroda, A. Bondada, K. Venkatesh, A. Salagame, C. Wang, T. Liu, B. Gupta, E. Sihite, R. Nemovi, A. Ramezani, and M. Gharib, ``Capture Point Control in Thruster - Assisted Bipedal Locomotion ,'' in 2024 IEEE International Conference on Advanced Intelligent Mechatronics ( AIM ) , Jul. 2024, pp. 1139--1144. [Online]. Available: https://ieeexplore.ieee.or...

    work page arXiv 2024

  2. [2]

    Conjugate momentum based thruster force estimate in dynamic multimodal robot

    S. Pitroda, E. Sihite, T. Liu, K. V. Krishnamurthy, C. Wang, A. Salagame, R. Nemovi, A. Ramezani, and M. Gharib, ``Conjugate momentum based thruster force estimate in dynamic multimodal robot,'' Nov. 2024, issue: arXiv:2411.14596 arXiv: 2411.14596 [cs]. [Online]. Available: http://arxiv.org/abs/2411.14596

    work page Pith review arXiv 2024

  3. [3]

    Sihite, S

    E. Sihite, S. Pitroda, T. Liu, C. Wang, K. V. Krishnamurthy, A. Salagame, R. Nemovi, A. Ramezani, and M. Gharib, ``Posture manipulation of thruster-enhanced bipedal robot performing dynamic wall-jumping using model predictive control,'' in 2024 IEEE - RAS 23rd International Conference on Humanoid Robots ( Humanoids ) , Nov. 2024, pp. 491--496. [Online]. A...

    work page arXiv 2024

  4. [4]

    Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes

    S. Pitroda, E. Sihite, K. V. Krishnamurthy, C. Wang, A. Salagame, R. Nemovi, A. Ramezani, and M. Gharib, ``Quadratic Programming Optimization for Bio - Inspired Thruster - Assisted Bipedal Locomotion on Inclined Slopes ,'' Nov. 2024, issue: arXiv:2411.12968 arXiv: 2411.12968 [cs]. [Online]. Available: http://arxiv.org/abs/2411.12968

    work page Pith review arXiv 2024

  5. [5]

    Dangol, E

    P. Dangol, E. Sihite, and A. Ramezani, ``Control of Thruster - Assisted , Bipedal Legged Locomotion of the Harpy Robot ,'' Frontiers in Robotics and AI, vol. 8, 2021. [Online]. Available: https://www.frontiersin.org/articles/10.3389/frobt.2021.770514

    work page arXiv 2021

  6. [6]

    Dangol, A

    P. Dangol, A. Lessieur, E. Sihite, and A. Ramezani, ``A HZD -based Framework for the Real -time, Optimization -free Enforcement of Gait Feasibility Constraints ,'' in 2020 IEEE - RAS 20th International Conference on Humanoid Robots ( Humanoids ) , Jul. 2021, pp. 156--162

    work page 2020

  7. [7]

    Dangol, A

    P. Dangol, A. Ramezani, and N. Jalili, ``Performance satisfaction in Midget , a thruster-assisted bipedal robot,'' in 2020 American Control Conference ( ACC ) , Jul. 2020, pp. 3217--3223

    work page 2020

  8. [8]

    Reduced-Order-Model-Based Feedback Design for Thruster-Assisted Legged Locomotion

    P. Dangol and A. Ramezani, ``Reduced- Order - Model - Based Feedback Design for Thruster - Assisted Legged Locomotion ,'' May 2021, issue: arXiv:2105.10082 arXiv: 2105.10082 [cs]. [Online]. Available: http://arxiv.org/abs/2105.10082

    work page Pith review arXiv 2021

Show all 54 references
  1. [9]

    Sihite, P

    E. Sihite, P. Dangol, and A. Ramezani, ``Unilateral Ground Contact Force Regulations in Thruster - Assisted Legged Locomotion ,'' in 2021 IEEE / ASME International Conference on Advanced Intelligent Mechatronics ( AIM ) , Jul. 2021, pp. 389--395

    2021

  2. [10]

    A. C. B. de Oliveira and A. Ramezani, ``Thruster-assisted Center Manifold Shaping in Bipedal Legged Locomotion ,'' in 2020 IEEE / ASME International Conference on Advanced Intelligent Mechatronics ( AIM ) , Jul. 2020, pp. 508--513

    2020

  3. [11]

    Pitroda, ``Dynamic multimodal locomotion: a quick overview of hardware and control.'' 2023

    S. Pitroda, ``Dynamic multimodal locomotion: a quick overview of hardware and control.'' 2023. [Online]. Available: https://repository.library.northeastern.edu/files/neu:4f21z897z

    2023

  4. [12]

    Dangol and A

    P. Dangol and A. Ramezani, ``Thruster-assisted legged robot control ( Conference Presentation ),'' Unmanned Systems Technology XXII, vol. 11425, p. 1142507, 2020

    2020

  5. [13]

    Pitroda, E

    S. Pitroda, E. Sihite, T. Liu, K. V. Krishnamurthy, C. Wang, A. Salagame, R. Nemovi, A. Ramezani, and M. Gharib, ``Enhanced Capture Point Control Using Thruster Dynamics and QP - Based Optimization for Harpy ,'' Nov. 2024, issue: arXiv:2411.17727 arXiv: 2411.17727 [cs]. [Onlin...

    2024 arXiv

  6. [14]

    K. V. Krishnamurthy, E. Sihite, C. Wang, S. Pitroda, A. Salagame, A. Ramezani, and M. Gharib, ``Enabling steep slope walking on Husky using reduced order modeling and quadratic programming,'' Nov. 2024, issue: arXiv:2411.11788 arXiv: 2411.11788 [cs]. [Online]. Available: http:...

    2024 arXiv

  7. [15]

    K. V. Krishnamurthy, C. Wang, S. Pitroda, A. Salagame, E. Sihite, R. Nemovi, A. Ramezani, and M. Gharib, ``Narrow- Path , Dynamic Walking Using Integrated Posture Manipulation and Thrust Vectoring ,'' in 2024 IEEE International Conference on Advanced Intelligent Mechatronics (...

    2024

  8. [16]

    K. V. Krishnamurthy, C. Wang, S. Pitroda, E. Sihite, A. Ramezani, and M. Gharib, ``Optimization free control and ground force estimation with momentum observer for a multimodal legged aerial robot,'' Nov. 2024, issue: arXiv:2411.11216 arXiv: 2411.11216 [cs]. [Online]. Availabl...

    2024 arXiv

  9. [17]

    K. V. Krishnamurthy, C. Wang, S. Pitroda, A. Salagame, E. Sihite, R. Nemovi, A. Ramezani, and M. Gharib, ``Thruster- Assisted Incline Walking ,'' Jun. 2024, issue: arXiv:2406.13118 arXiv: 2406.13118 [cs, eess]. [Online]. Available: http://arxiv.org/abs/2406.13118

    2024 arXiv

  10. [18]

    K. V. Krishnamurthy, `` en Towards dynamic narrow path walking on NU 's Husky .''

  11. [19]

    Ramezani, P

    A. Ramezani, P. Dangol, E. Sihite, A. Lessieur, and P. Kelly, ``Generative Design of NU ’s Husky Carbon , A Morpho - Functional , Legged Robot ,'' in 2021 IEEE International Conference on Robotics and Automation ( ICRA ) , May 2021, pp. 4040--4046, iSSN: 2577-087X. [Online]. A...

    2021

  12. [20]

    Sihite, A

    E. Sihite, A. Salagame, P. Ghanem, and A. Ramezani, ``Actuation and Flight Control of High - DOF Dynamic Morphing Wing Flight by Shifting Structure Response ,'' in 2023 62nd IEEE Conference on Decision and Control ( CDC ) , Dec. 2023, pp. 8824--8829. [Online]. Available: https...

    2023

  13. [21]

    Ramezani, ``Morpho- Functional Robots with Legged and Aerial Modes of Locomotion ,'' Patent 20\,230\,001\,757, Jan., 2023

    A. Ramezani, ``Morpho- Functional Robots with Legged and Aerial Modes of Locomotion ,'' Patent 20\,230\,001\,757, Jan., 2023. [Online]. Available: https://www.freepatentsonline.com/y2023/0001757.html

    2023

  14. [22]

    Salagame, M

    A. Salagame, M. Gianello, C. Wang, K. Venkatesh, S. Pitroda, R. Rajput, E. Sihite, M. Leeser, and A. Ramezani, `` en Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method ,'' Dec. 2023, arXiv:2312.08621 [cs]. [Online]. Available: http://arxiv.org/abs/2312.08621

    2023 arXiv

  15. [23]

    Sihite, P

    E. Sihite, P. Dangol, and A. Ramezani, ``Optimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotion ,'' in 2021 60th IEEE Conference on Decision and Control ( CDC ) , Dec. 2021, pp. 713--719

    2021

  16. [24]

    Sihite, A

    E. Sihite, A. Kalantari, R. Nemovi, A. Ramezani, and M. Gharib, `` en Multi- Modal Mobility Morphobot ( M4 ) with appendage repurposing for locomotion plasticity enhancement ,'' en Nature Communications , vol. 14, no. 1, p. 3323, Jun. 2023, publisher: Nature Publishing Group. ...

    2023

  17. [25]

    Mandralis, E

    I. Mandralis, E. Sihite, A. Ramezani, and M. Gharib, `` en Minimum Time Trajectory Generation for Bounding Flight : Combining Posture Control and Thrust Vectoring ,'' in en 2023 European Control Conference ( ECC ) . 1em plus 0.5em minus 0.4em Bucharest, Romania: IEEE, Jun. 202...

    2023

  18. [26]

    Gherold, I

    V. Gherold, I. Mandralis, E. Sihite, A. Salagame, A. Ramezani, and M. Gharib, ``Self-supervised cost of transport estimation for multimodal path planning,'' Dec. 2024, issue: arXiv:2412.06101 arXiv: 2412.06101 [cs]. [Online]. Available: http://arxiv.org/abs/2412.06101

    2024 arXiv

  19. [27]

    Sihite, A

    E. Sihite, A. Ramezani, and M. Gharib, ``Dynamic modeling of wing-assisted inclined running with a morphing multi-modal robot,'' in 2024 IEEE International Conference on Robotics and Automation ( ICRA ) , May 2024, pp. 2339--2345. [Online]. Available: https://ieeexplore.ieee.o...

    2024

  20. [28]

    Sihite, B

    E. Sihite, B. Mottis, P. Ghanem, A. Ramezani, and M. Gharib, ``Efficient Path Planning and Tracking for Multi - Modal Legged - Aerial Locomotion Using Integrated Probabilistic Road Maps ( PRM ) and Reference Governors ( RG ),'' in 2022 IEEE 61st Conference on Decision and Cont...

    2022

  21. [29]

    Sihite, F

    E. Sihite, F. Slezak, I. Mandralis, A. Salagame, M. Ramezani, A. Kalantari, A. Ramezani, and M. Gharib, `` en Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV - UAV Morphing Robot ,'' in en 2023 IEEE / RSJ International Conference on Intelligent Robots and Sys...

    2023

  22. [30]

    Wang, ``Legged walking on inclined surfaces,'' 2023

    C. Wang, ``Legged walking on inclined surfaces,'' 2023. [Online]. Available: https://repository.library.northeastern.edu/files/neu:4f197h44r

    2023

  23. [31]

    C. Wang, E. Sihite, K. V. Krishnamurthy, S. Pitroda, A. Salagame, A. Ramezani, and M. Gharib, `` en Quadratic Programming - Based Posture Manipulation and Thrust -vectoring for Agile Dynamic Walking on Narrow Pathways ,'' Jul. 2025, arXiv:2507.23203 [cs]. [Online]. Available: ...

    2025 arXiv

  24. [32]

    Ramirez Serrano, N.-s

    F. Ramirez Serrano, N.-s. P. Hyun, E. Steinhardt, P.-L. Lechère, and R. J. Wood, `` en A springtail-inspired multimodal walking-jumping microrobot ,'' en Science Robotics , vol. 10, no. 99, Feb. 2025, publisher: American Association for the Advancement of Science (AAAS). [Onli...

    2025 doi

  25. [33]

    Ye and K

    K. Ye and K. Karydis, `` en Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine ,'' in en 2021 IEEE / RSJ International Conference on Intelligent Robots and Systems ( IROS ) . 1em plus 0.5em minus 0.4em Prague,...

    2021

  26. [34]

    Zhang, J

    J. Zhang, J. Shen, Y. Liu, and D. Hong, ``Design of a Jumping Control Framework with Heuristic Landing for Bipedal Robots ,'' in 2023 IEEE / RSJ International Conference on Intelligent Robots and Systems ( IROS ) , Oct. 2023, pp. 8502--8509. [Online]. Available: https://ieeexp...

    2023

  27. [35]

    Z. He, F. Meng, X. Chen, Z. Yu, X. Fan, R. Sato, A. Ming, and Q. Huang, `` en Controllable Height Hopping of a Parallel Legged Robot ,'' en Applied Sciences , vol. 11, no. 4, p. 1421, Feb. 2021, publisher: MDPI AG. [Online]. Available: https://www.mdpi.com/2076-3417/11/4/1421

    2021

  28. [36]

    Nguyen, M

    Q. Nguyen, M. J. Powell, B. Katz, J. D. Carlo, and S. Kim, `` en Optimized Jumping on the MIT Cheetah 3 Robot ,'' in en 2019 International Conference on Robotics and Automation ( ICRA ) . 1em plus 0.5em minus 0.4em Montreal, QC, Canada: IEEE, May 2019. [Online]. Available: htt...

    2019

  29. [37]

    Iwamoto and M

    N. Iwamoto and M. Yamamoto, `` en Jumping motion control planning for 4-wheeled robot with a tail ,'' in en 2015 IEEE / SICE International Symposium on System Integration ( SII ) . 1em plus 0.5em minus 0.4em Nagoya, Japan: IEEE, Dec. 2015, pp. 871--876. [Online]. Available: ht...

    2015

  30. [38]

    D. W. Haldane, J. K. Yim, and R. S. Fearing, `` en Repetitive extreme-acceleration (14-g) spatial jumping with Salto - 1P ,'' in en 2017 IEEE / RSJ International Conference on Intelligent Robots and Systems ( IROS ) . 1em plus 0.5em minus 0.4em Vancouver, BC: IEEE, Sep. 2017, ...

    2017

  31. [39]

    X. Mo, W. Ge, M. Miraglia, F. Inglese, D. Zhao, C. Stefanini, and D. Romano, `` en Jumping Locomotion Strategies : From Animals to Bioinspired Robots ,'' en Applied Sciences , vol. 10, no. 23, p. 8607, Dec. 2020, publisher: MDPI AG. [Online]. Available: https://www.mdpi.com/20...

    2020

  32. [40]

    C. J. Pratt and K. K. Leang, ``Dynamic underactuated flying-walking ( DUCK ) robot,'' in 2016 IEEE International Conference on Robotics and Automation ( ICRA ) , May 2016, pp. 3267--3274. [Online]. Available: https://ieeexplore.ieee.org/document/7487498/?arnumber=7487498

    2016

  33. [41]

    H. Zhao, L. Yu, S. Qin, G. Jin, and Y. Chen, ``Design and Control of a Bio - Inspired Wheeled Bipedal Robot ,'' IEEE/ASME Transactions on Mechatronics, pp. 1--12, 2024. [Online]. Available: https://ieeexplore.ieee.org/document/10665908/?arnumber=10665908

    2024

  34. [42]

    R. Wang, Z. Lu, Y. Xiao, Y. Zhao, Q. Jiang, and X. Shi, ``Design and Control of a Multi - Locomotion Parallel - Legged Bipedal Robot ,'' IEEE Robotics and Automation Letters, vol. 9, no. 2, pp. 1993--2000, Feb. 2024. [Online]. Available: https://ieeexplore.ieee.org/document/10...

    1993

  35. [43]

    H. Qi, X. Chen, Z. Yu, G. Huang, Y. Liu, L. Meng, and Q. Huang, ``Vertical Jump of a Humanoid Robot With CoP - Guided Angular Momentum Control and Impact Absorption ,'' IEEE Transactions on Robotics, vol. 39, no. 4, pp. 3154--3166, Aug. 2023. [Online]. Available: https://ieeex...

    2023

  36. [44]

    Maekawa, R

    A. Maekawa, R. Niiyama, and S. Yamanaka, ``Pseudo- Locomotion Design with a Quadrotor - Assisted Biped Robot ,'' in 2018 IEEE International Conference on Robotics and Biomimetics ( ROBIO ) , Dec. 2018, pp. 2462--2466. [Online]. Available: https://ieeexplore.ieee.org/document/8...

    2018

  37. [45]

    Grimminger, A

    F. Grimminger, A. Meduri, M. Khadiv, J. Viereck, M. Wüthrich, M. Naveau, V. Berenz, S. Heim, F. Widmaier, T. Flayols, J. Fiene, A. Badri-Spröwitz, and L. Righetti, ``An Open Torque - Controlled Modular Robot Architecture for Legged Locomotion Research ,'' IEEE Robotics and Aut...

    2020

  38. [46]

    Sugihara, M

    K. Sugihara, M. Zhao, T. Nishio, T. Makabe, K. Okada, and M. Inaba, ``Design and Control of a Small Humanoid Equipped With Flight Unit and Wheels for Multimodal Locomotion ,'' IEEE Robotics and Automation Letters, vol. 8, no. 9, pp. 5608--5615, Sep. 2023. [Online]. Available: ...

    2023

  39. [47]

    Y. Li, Y. Jiang, and K. Hosoda, `` English Design and sequential jumping experimental validation of a musculoskeletal bipedal robot based on the spring-loaded inverted pendulum model ,'' English Frontiers in Robotics and AI , vol. 11, Jan. 2024. [Online]. Available: https://ww...

    2024

  40. [48]

    Y. Liu, J. Shen, J. Zhang, X. Zhang, T. Zhu, and D. Hong, ``Design and Control of a Miniature Bipedal Robot with Proprioceptive Actuation for Dynamic Behaviors ,'' in 2022 International Conference on Robotics and Automation ( ICRA ) , May 2022, pp. 8547--8553. [Online]. Availa...

    2022

  41. [49]

    Suzuki, K

    S. Suzuki, K. Matayoshi, M. Hayashibe, and D. Owaki, `` en Foot trajectory as a key factor for diverse gait patterns in quadruped robot locomotion ,'' en Scientific Reports , vol. 15, no. 1, p. 1861, Jan. 2025. [Online]. Available: https://www.nature.com/articles/s41598-024-84060-5

    2025

  42. [50]

    Kikuchi, Y

    F. Kikuchi, Y. Ota, and S. Hirose, `` en Basic performance experiments for jumping quadruped ,'' in en Proceedings 2003 IEEE / RSJ International Conference on Intelligent Robots and Systems ( IROS 2003) ( Cat . No . 03CH37453 ) , vol. 3. 1em plus 0.5em minus 0.4em Las Vegas, N...

    2003

  43. [51]

    S. K. Challa, A. Kumar, V. B. Semwal, and N. Dua, `` en An Optimized - LSTM and RGB - D Sensor - Based Human Gait Trajectory Generator for Bipedal Robot Walking ,'' en IEEE Sensors Journal , vol. 22, no. 24, pp. 24\,352--24\,363, Dec. 2022. [Online]. Available: https://ieeexpl...

    2022

  44. [52]

    K. Wang, H. Zhao, F. Meng, and X. Zhang, `` en Research on the Jumping Control Methods of a Quadruped Robot That Imitates Animals ,'' en Biomimetics , vol. 8, no. 1, p. 36, Jan. 2023, publisher: MDPI AG. [Online]. Available: https://www.mdpi.com/2313-7673/8/1/36

    2023

  45. [53]

    Z. Wang, Q. Li, L. Kou, D. Zheng, W. Ke, and D. Lu, `` en Bipedal Robot Gait Generation Using Bessel Interpolation ,'' en Biomimetics , vol. 9, no. 4, p. 201, Mar. 2024. [Online]. Available: https://www.mdpi.com/2313-7673/9/4/201

    2024

  46. [54]

    T. Guo, J. Liu, H. Liang, Y. Zhang, W. Chen, X. Xia, M. Wang, and Z. Wang, `` en Design and dynamic analysis of jumping wheel-legged robot in complex terrain environment ,'' en Frontiers in Neurorobotics , vol. 16, Dec. 2022, publisher: Frontiers Media SA. [Online]. Available:...

    2022

Pith tools

Reviewed August 5, 2026 · model on record in the stance chip above.