Author

Yu-Jie Xiong

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Preprint Sep 2026

SwingBot: Learning Whole-Body Brachiation for Humanoid Robots

Brachiation enables primates to move across overhead supports when ground paths are blocked, suggesting a complementary locomotion mode for robots operating in cluttered or hazardous environments. Bringing this capability to high-DoF humanoid robots is difficult because the controller must discover a long-horizon relea...

Yu-Jie Xiong, Peng Zhai, Tai-Wei Hou et al. · 0 citations

Sep 2026

QLIMB: End-to-End Whole-Body Control for Quadruped Loco-Manipulation and Balance on Complex Terrains

Equipping quadruped robots with manipulators significantly expands their operational workspace. However, for small-scale systems constrained by limited joint torques, achieving robust whole-body control on unstructured terrains remains a substantial challenge. Existing learning-based methods often face an inherent trad...

Quancheng Qian, Peng Zhai, Zonghao Zhang et al. · IEEE Robotics and Automation... · 0 citations