Aug 2026· 2026 IEEE International Conference on Mechatronics and Automation (ICMA)· pp. 1415-1420· 0 citations· 22 references
Abstract
Minimal-DOF legged robots rely heavily on their mechanical compliance, which makes the actuator command profile an important part of the locomotion design. In particular, a piecewise-linear (C0) mapping from oscillator state to actuator position introduces velocity jumps at phase transitions. We present a CPG controller for a jointless hexapod robot that combines a duty-factor-modulated Hopf oscillator with a cyclic C1 trigonometric mapping. The mapping removes the velocity jumps and keeps the commanded acceleration bounded. In fixed-duration Webots trials, it changes forward travel by only 0.21% relative to a cubic Hermite C1 baseline while reducing lateral drift by 51.6%. Physical demonstrations on slopes, gravel, grass, obstacles, and stairs show that the same controller can be used across several terrain conditions. Project page: https://lequn-f.github.io/Hexapod
: Stable high-speed locomotion of legged robotic platforms depends on gait parameters that are usually tuned by hand, with no guarantee that the resulting cycle is stable or efficient. This paper builds a hybrid dynamical model of the center-of-mass trajectory using a spring-loaded inverted pendulum abstraction, with s...
This paper presents a novel control strategy that enables seamless transitions between stationary standing and repetitive hopping in legged robots through dynamics morphing. At the core of the approach lies a stable nonlinear oscillator that can be continuously transformed into and from a regulator for vertical center...
Hiroshi Atsuta, T. Sugihara· Nonlinear dynamics· 0 citations
A refined actuator model explicitly captures high-speed voltage coupling and magnetic saturation, enabling a more accurate representation of the torque–speed envelope and a reinforcement learning framework incorporating a two-stage curriculum and adaptive command scheduling (ACS) ensures stable training.
Yu-Cheng Tao, Shao-Wen Cheng, Guo-Rong Lan et al.· IEEE Robotics and Automation...· 0 citations
Humanoid locomotion over varying terrains typically relies on exteroceptive perception or manually tuned control gains, both of which limit robustness in real-world deployment. This paper presents a fully proprioceptive terrain-adaptive control approach that enables humanoid robots to walk across flat, uneven, and incl...
Hong-Tao Zhang, Lan Wu, T. Bräunl· Autonomous Robots· 0 citations
This paper presents a proprioception-based rolling control framework for wheeled-quadruped robots. The proposed framework serves as a reactive control approach for adaptive terrain traversal and body stabilization, without explicit motion planning. For wheeled-quadruped robots, adding wheels significantly increases t...
Shi-Chao Zhou, Zhong-Qu Xie, Ling-Kun Chen et al.· Proceedings of the Instituti...· 0 citations
To address the problems of high-dimensional action space in end-to-end reinforcement learning and insufficient adaptive capability of traditional CPG parameters in quadruped robot locomotion control, this paper proposes a hierarchical control architecture combining a Hopf-CPG parameterized action space with reinforceme...
Xuan-Da Zhou, Zhi-Ming Wang· 2026 6th International Confe...· 0 citations
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