Low Cost Autonomous Navigation and Control of a Mechanically Balanced Bicycle with Dual Locomotion Mode

利用机械混合悬挂系统实现行星巡视器的更快移动

Enabling Faster Locomotion of Planetary Rovers with a Mechanically-Hybrid Suspension

本文提出一种用于轮式行星机器人的新型全被动机械混合悬挂系统，首次耦合大行程被动摇臂与轮内螺旋弹簧减震器，仿真与野外测试证明其能有效缓解低重力下快速移动产生的振动与冲击。

用于机器人管道检测的机械充气式仿生运动系统

Mechanically-Inflatable Bio-Inspired Locomotion for Robotic Pipeline Inspection

受寄生蜂产卵器启发研发的机械充气式柔性管道检测机器人，可适配不同管道尺寸形状，平均运动效率70%、夹持力13 N，为多场景管道检测提供新方案。

基于强化学习的自行车杂技

Bicycle Acrobatics with Reinforcement Learning

本文采用强化学习技术，通过引入编排器协调多种RL范式训练的策略，让定制自行车机器人UMV完成多种杂技动作，验证了RL可赋予轮式机器人高敏捷性。

DASH机器人：通过接触隐式控制实现简约设计与最优的空陆运动

DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control

研究设计新型空陆机器人DASH，通过整合管道风扇同轴体与弹性腿，并采用接触隐式模型预测控制器，实现空中和地面的最优运动，经多种任务验证了其设计与控制的有效性。

Effective Locomotion at Multiple Stride Frequencies Using Proprioceptive Feedback on a Legged Microrobot

Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the development of small legged robots capable of operation at multiple stride frequencies using multi-degree-of-freedom leg trajectories. Proprioceptive sensing and control is key to extending the capabilities of these robots to a broad range of operating conditions. In this work, we use concomitant sensing for piezoelectric actuation with a computationally efficie…

被动动态行走启发的动力学引导用于节能人形机器人运动

Passive-Dynamic-Walking-Inspired Dynamics Guidance for Energy-Efficient Humanoid Locomotion

本文提出受被动动态行走启发的框架，通过临时倾斜重力场引导人形机器人学习节能步态，无需参考轨迹，在Unitree G1上降低运输成本6.8-15.2%，并扩展至全向运动。