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https://github.com/curieuxjy/Awesome_Quadrupedal_Robots

Awesome Quadrupedal Robots
https://github.com/curieuxjy/Awesome_Quadrupedal_Robots

List: Awesome_Quadrupedal_Robots

awesome awesome-list quadruped quadruped-robot quadruped-robots

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Awesome Quadrupedal Robots

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# Awesome_Quadrupedal_Robots [![Awesome](https://cdn.rawgit.com/sindresorhus/awesome/d7305f38d29fed78fa85652e3a63e154dd8e8829/media/badge.svg)](https://github.com/sindresorhus/awesome)



> Don't hesitate to leave [issues](https://github.com/curieuxjy/Awesome_Quadrupedal_Robots/issues) or [discussions](https://github.com/curieuxjy/Awesome_Quadrupedal_Robots/discussions) to me if there are any corrections or errors.



![](./assets/cover_v2.png)



> 🔤 The items below are in alphabetical order.



## Good to start 🧐



- [Boston Dynamics Spot Robot | All of its Engineering SECRETS!](https://youtu.be/tfWbE_1eCZk)

- [Development of quadruped walking robots: A review](https://doi.org/10.1016/j.asej.2020.11.005)

- [Quadruped Robot Basics](https://youtu.be/O_2swSMecB4)



---



## Quadrupedal Robot 🐅



Platforms



- [AiDIN](https://www.aidinrobotics.co.kr/leggedrobot-aidin)

- [ANYmal](https://rsl.ethz.ch/robots-media/anymal.html)

- [Barkour](https://ai.googleblog.com/2023/05/barkour-benchmarking-animal-level.html)

- [Cheetah](https://biomimetics.mit.edu/)

- [CyberDog 2](https://www.mi.com/cyberdog2)

- [DeepRobotics](https://www.deeprobotics.cn/en/index/product.html)

- [HyQ](https://robots.ieee.org/robots/hyq/)

- [Magnecko](https://magnecko.ethz.ch/)

- [Max](https://www.chinamoneynetwork.com/2021/03/05/tencents-new-robotic-dog-max-has-wheels-on-its-knees-can-travel-at-25km-hour)

- [Mevius](https://github.com/haraduka/mevius)

- [PongBot](https://rclab.kookmin.ac.kr/project1/quadruped-robot)

- [Raibo](https://www.railab.kaist.ac.kr/sections/robots#raibo-2)

- [RBQ](https://www.rainbow-robotics.com/en_rbq)

- [Solo8](https://open-dynamic-robot-initiative.github.io/)

- [Spot](https://www.bostondynamics.com/products/spot)

- [Trakr](https://addverb.com/trakr-indias-homegrown-robotic-dog-quadruped/)

- [Unitree](https://www.unitree.com/)

- [Vision60](https://www.ghostrobotics.io/vision-60)



---



## Papers 📑

`It could include abroad keywords related to quadrupedal walking robots, e.g. control methods or reinforcement learning`



2024






- [A Study of Lightweight, Low-cost Quadrupedal Robot Body Based on a Coaxial Deformation Mechanism](https://ieeexplore.ieee.org/abstract/document/10632940)

- [Accelerating Model Predictive Control for Legged Robots through Distributed Optimization](https://arxiv.org/abs/2403.11742)

- [Accessorizing Quadrupedal Robots with Wearable Electronics](https://onlinelibrary.wiley.com/doi/full/10.1002/aisy.202300633)

- [Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion](https://arxiv.org/abs/2401.17583)

- [Arm-Constrained Curriculum Learning for Loco-Manipulation of the Wheel-Legged Robot](https://arxiv.org/abs/2403.16535)

- [Body Transformer: Leveraging Robot Embodiment for Policy Learning](https://arxiv.org/abs/2408.06316)

- [Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control](https://arxiv.org/abs/2403.03995)

- [Contrastive Initial State Buffer for Reinforcement Learning](https://rpg.ifi.uzh.ch/docs/ICRA24_Messikommer.pdf)

- [Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots](https://arxiv.org/abs/2304.00346)

- [CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains](https://www.arxiv.org/abs/2409.17262)

- [Deep Compliant Control for Legged Robots](TBD)

- [DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets](https://arxiv.org/abs/2404.19264)

- [DrEureka: Language Model Guided Sim-To-Real Transfer](https://eureka-research.github.io/dr-eureka/assets/dreureka-paper.pdf)

- [DTC: Deep Tracking Control](https://www.science.org/doi/10.1126/scirobotics.adh5401)

- [Dynamic Fall Recovery Control for Legged Robots via Reinforcement Learning](https://www.mdpi.com/2313-7673/9/4/193)

- [Enhancing Quadruped Robot Locomotion on Deformable Terrains Through Contact Perception and Terrain Classification](https://papers.ssrn.com/sol3/papers.cfm?abstract_id=4682648)

- [Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots](https://arxiv.org/abs/2403.11412)

- [Fast Traversability Estimation for Wild Visual Navigation](https://arxiv.org/abs/2305.08510)

- [GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot](https://arxiv.org/abs/2403.13358)

- [H2- and H∞-Optimal Model Predictive Controllers for Robust Legged Locomotion](https://ieeexplore.ieee.org/document/10543084)

- [Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation](https://arxiv.org/pdf/2403.17846.pdf)

- [Identifying Terrain Physical Parameters from Vision - Towards Physical-Parameter-Aware Locomotion and Navigation](https://arxiv.org/abs/2408.16567)

- [Jumping Locomotion of Quadruped Robot During Running Based on Multiple Model Fusion](https://ieeexplore.ieee.org/abstract/document/10633053)

- [Learning Advanced Locomotion for Quadrupedal Robots: A Distributed Multi-Agent Reinforcement Learning Framework with Riemannian Motion Policies](https://www.mdpi.com/2218-6581/13/6/86)

- [Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors](https://arxiv.org/abs/2407.02282)

- [Learning Force Control for Legged Manipulation](https://arxiv.org/abs/2405.01402)

- [Learning Quadrupedal High-Speed Running on Uneven Terrain](https://www.mdpi.com/2313-7673/9/1/37)

- [Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning](https://arxiv.org/abs/2309.14246)

- [Learning robust autonomous navigation and locomotion for wheeled-legged robots](https://www.science.org/doi/10.1126/scirobotics.adi9641)

- [Learning to walk in confined spaces using 3D representation](https://arxiv.org/abs/2403.00187)

- [Learning-based legged locomotion; state of the art and future perspectives](https://arxiv.org/abs/2406.01152)

- [Learning-Based Locomotion Controllers for Quadruped Robots in Indoor Stair Climbing via Deep Reinforcement Learning](https://ieeexplore.ieee.org/abstract/document/10594976)

- [Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network](https://arxiv.org/abs/2402.00366)

- [LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots](https://arxiv.org/abs/2409.17992)

- [ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots](https://arxiv.org/abs/2310.10486)

- [MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining](https://arxiv.org/abs/2409.14721)

- [MQE: Unleashing the Power of Interaction with Multi-agent Quadruped Environment](https://arxiv.org/abs/2403.16015)

- [Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning](https://arxiv.org/abs/2409.19709)

- [One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion](https://arxiv.org/abs/2409.06366)

- [Online Hierarchical Planning for Multicontact Locomotion Control of Quadruped Robots](https://ieeexplore.ieee.org/abstract/document/10614673)

- [OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering](https://arxiv.org/abs/2401.16719)

- [Oscillating latent dynamics in robot systems during walking and reaching](https://www.nature.com/articles/s41598-024-61610-5)

- [Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg](https://arxiv.org/abs/2402.10837)

- [Pegasus: a Novel Bio-inspired Quadruped Robot with Underactuated Wheeled-Legged Mechanism *](https://ieeexplore.ieee.org/document/10611633)

- [ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments](https://arxiv.org/abs/2307.09754)

- [Reduced Model Predictive Control Toward Highly Dynamic Quadruped Locomotion](https://ieeexplore.ieee.org/document/10418132/)

- [Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers](https://arxiv.org/abs/2405.12424)

- [Robust Ladder Climbing with a Quadrupedal Robot](https://arxiv.org/abs/2409.17731)

- [Sim-to-Real: A Performance Comparison of PPO, TD3, and SAC Reinforcement Learning Algorithms for Quadruped Walking Gait Generation](https://www.scirp.org/journal/paperinformation?paperid=131938)

- [Similar but Different: A Survey of Ground Segmentation and Traversability Estimation for Terrestrial Robots](https://arxiv.org/abs/2312.16839)

- [Skill Latent Space Based Multigait Learning for a Legged Robot](https://ieeexplore.ieee.org/abstract/document/10612828)

- [SYNLOCO‐VE: Synthesizing central pattern generator with reinforcement learning and velocity estimator for quadruped locomotion](https://onlinelibrary.wiley.com/doi/abs/10.1002/oca.3181)

- [Track2Act: Predicting Point Tracks from Internet Videos enables Diverse Zero-shot Robot Manipulation](https://arxiv.org/abs/2405.01527)

- [UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers](https://arxiv.org/abs/2407.10353)

- [Understanding URDF: A Dataset and Analysis](https://ieeexplore.ieee.org/abstract/document/10478618)

- [Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains](https://www.nature.com/articles/s41467-024-47443-w)

- [ViPlanner: Visual Semantic Imperative Learning for Local Navigation](https://arxiv.org/abs/2310.00982)

- [Visual Whole-Body Control for Legged Loco-Manipulation](https://arxiv.org/abs/2403.16967)

- [VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation](https://arxiv.org/abs/2312.03275)



2023






- [Adaptive Locomotion Learning for Quadruped Robots by Combining DRL with a Cosine Oscillator Based Rhythm Controller](https://www.mdpi.com/2076-3417/13/19/11045)

- [Adaptive walking control for quadruped robot by using oscillation patterns](https://www.nature.com/articles/s42256-022-00576-3)

- [AMP in the wild: Learning robust, agile, natural legged locomotion skills](https://arxiv.org/abs/2304.10888)

- [ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots](https://arxiv.org/abs/2306.14874)

- [ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments](https://arxiv.org/abs/2303.15900)

- [ArtPlanner: Robust Legged Robot Navigation in the Field](https://arxiv.org/abs/2303.01420)

- [ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation](https://arxiv.org/abs/2304.00410)

- [Autonomous Stair Ascending and Descending by Quadruped Wheelchairs](https://ieeexplore.ieee.org/abstract/document/10202377)

- [Barkour: Benchmarking Animal-level Agility with Quadruped Robots](https://arxiv.org/abs/2305.14654)

- [Barry: A High-Payload and Agile Quadruped Robot](https://ieeexplore.ieee.org/document/10246325)

- [Combining model-predictive control and predictive reinforcement learning for stable quadrupedal robot locomotion](https://arxiv.org/abs/2307.07752)

- [Controlling the Solo12 quadruped robot with deep reinforcement learning](https://www.nature.com/articles/s41598-023-38259-7)

- [Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks](https://openreview.net/forum?id=QG_ERxtDAP-&referrer=%5Bthe%20profile%20of%20Marco%20Hutter%5D(%2Fprofile%3Fid%3D~Marco_Hutter1))

- [DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills](https://arxiv.org/abs/2306.07419)

- [DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots](https://la.disneyresearch.com/wp-content/uploads/DOC_paper.pdf)

- [Dojo: A Differentiable Physics Engine for Robotics](https://arxiv.org/abs/2203.00806)

- [DreamWaQ: Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinforcement Learning](https://arxiv.org/abs/2301.10602)

- [DribbleBot: Dynamic Legged Manipulation in the Wild](https://gmargo11.github.io/dribblebot/rsc/dribblebot_paper.pdf)

- [Drilling Task with a Quadruped Robot for Silage Face Measurements](https://www.researchgate.net/publication/370765569_Drilling_Task_with_a_Quadruped_Robot_for_Silage_Face_Measurements)

- [DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion](https://arxiv.org/abs/2309.15462)

- [Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface](https://arxiv.org/abs/2305.08962)

- [Event-based Agile Object Catching with a Quadrupedal Robot](https://arxiv.org/abs/2303.17479)

- [Expanding Versatility of Agile Locomotion through Policy Transitions Using Latent State Representation](https://arxiv.org/abs/2306.08224)

- [Extreme Parkour with Legged Robots](https://arxiv.org/abs/2309.14341)

- [Fast Traversability Estimation for Wild Visual Navigation](https://arxiv.org/abs/2305.08510)

- [From Data-Fitting to Discovery: Interpreting the Neural Dynamics of Motor Control through Reinforcement Learning](https://arxiv.org/abs/2305.11107)

- [Geometric Mechanics of Contact-Switching Systems](https://arxiv.org/abs/2306.10276)

- [Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion](https://arxiv.org/abs/2310.17634)

- [Guardians as You Fall: Active Mode Transition for Safe Falling](https://arxiv.org/abs/2310.04828)

- [Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal](https://arxiv.org/abs/2311.08354)

- [Identifying important sensory feedback for learning locomotion skills](https://www.nature.com/articles/s42256-023-00701-w)

- [Intelligent Control of Multilegged Robot Smooth Motion: A Review](https://ieeexplore.ieee.org/document/10216974)

- [iPlanner: Imperative Path Planning](https://arxiv.org/abs/2302.11434)

- [Language to Rewards for Robotic Skill Synthesis](https://arxiv.org/abs/2306.08647)

- [Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches](https://ieeexplore.ieee.org/document/10281391)

- [Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot using Scalable Motion Imitation](https://arxiv.org/abs/2303.15331)

- [Learning Agility and Adaptive Legged Locomotion via Curricular Hindsight Reinforcement Learning](https://arxiv.org/abs/2310.15583)

- [Learning and Adapting Agile Locomotion Skills by Transferring Experience](https://arxiv.org/abs/2304.09834)

- [Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators](https://www.research-collection.ethz.ch/handle/20.500.11850/595246)

- [Learning Complex Motor Skills for Legged Robot Fall Recovery](https://ieeexplore.ieee.org/document/10138662/)

- [Learning Impulse-Reduced Gait for Quadruped Robot using CMA-ES](https://ieeexplore.ieee.org/abstract/document/10202519)

- [Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion](https://arxiv.org/abs/2209.14887)

- [Learning Multiple Gaits within Latent Space for Quadruped Robots](https://arxiv.org/abs/2308.03014)

- [Learning Quadruped Locomotion using Bio-Inspired Neural Networks with Intrinsic Rhythmicity](https://arxiv.org/abs/2305.07300)

- [Learning quadrupedal locomotion on deformable terrain](https://www.science.org/doi/full/10.1126/scirobotics.ade2256)

- [Learning Robust Perception-Based Controller for Quadruped Robot](https://ieeexplore.ieee.org/document/10237187)

- [Learning to Exploit Elastic Actuators for Quadruped Locomotion](https://arxiv.org/abs/2209.07171)

- [Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments](https://arxiv.org/abs/2209.09233)

- [Learning Whole-body Manipulation for Quadrupedal Robot](https://arxiv.org/abs/2308.16820)

- [Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion](https://arxiv.org/abs/2303.11330)

- [Lifelike Agility and Play on Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models](https://arxiv.org/abs/2308.15143)

- [LSC: Language-guided Skill Coordination](https://languageguidedskillcoordination.github.io/)

- [LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems](https://www.research-collection.ethz.ch/handle/20.500.11850/625515)

- [Mastering Diverse Domains through World Models](https://arxiv.org/abs/2301.04104)

- [Max: A Wheeled-Legged Quadruped Robot for Multimodal Agile Locomotion](https://ieeexplore.ieee.org/document/10375960)

- [Multi-Contact Whole Body Force Control for Position-Controlled Robots](https://arxiv.org/abs/2312.16465)

- [Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotion](https://arxiv.org/abs/2308.12517)

- [OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors](https://arxiv.org/abs/2210.01247)

- [ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments](https://ieeexplore.ieee.org/abstract/document/10107764)

- [Orthrus: A Dual-arm Quadrupedal Robot for Mobile Manipulation and Entertainment Applications](https://ieeexplore.ieee.org/document/10309339)

- [Perceptive Locomotion Through Nonlinear Model-Predictive Control](https://ieeexplore.ieee.org/abstract/document/10138309)

- [Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive](https://arxiv.org/abs/2302.13378)

- [PyPose: A Library for Robot Learning with Physics-based Optimization](https://arxiv.org/abs/2209.15428)

- [QUAR-VLA: Vision-Language-Action Model for Quadruped Robots](https://arxiv.org/abs/2312.14457)

- [Real-Time Collision-Free Motion Planning and Control for Mobile Manipulation with Quadrupeds](https://ieeexplore.ieee.org/abstract/document/10354901)

- [Reinforcement Learning for Legged Robots: Motion Imitation from Model-Based Optimal Control](https://arxiv.org/abs/2305.10989)

- [Reinforcement Learning from Multiple Sensors via Joint Representations](https://arxiv.org/abs/2302.05342)

- [Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End](https://arxiv.org/abs/2310.03581)

- [Responsive CPG-Based Locomotion Control for Quadruped Robots](https://link.springer.com/chapter/10.1007/978-981-99-8073-4_22)

- [RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion](https://arxiv.org/abs/2305.17842)

- [RoboHive: A Unified Framework for Robot Learning](https://arxiv.org/abs/2310.06828)

- [Robot Parkour Learning](https://openreview.net/forum?id=uo937r5eTE)

- [Robust Quadrupedal Locomotion via Risk-Averse Policy Learning](https://arxiv.org/abs/2308.09405)

- [Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination](https://arxiv.org/abs/2306.12712)

- [Roll-Drop: accounting for observation noise with a single parameter](https://arxiv.org/abs/2304.13150)

- [SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors](https://arxiv.org/abs/2307.12664.pdf)

- [SayTap: Language to Quadrupedal Locomotion](https://arxiv.org/abs/2306.07580)

- [Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots](https://arxiv.org/abs/2307.10079)

- [Skill Graph for Real-world Quadrupedal Robot Reinforcement Learning](https://openreview.net/forum?id=vdm4WnG5u-M)

- [SLoMo: A General System for Legged Robot Motion Imitation From Casual Videos](https://ieeexplore.ieee.org/abstract/document/10246373)

- [Solving Challenging Control Problems via Learning-based Motion Planning and Imitation](https://ieeexplore.ieee.org/abstract/document/10202250)

- [SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion](https://arxiv.org/abs/2310.06606)

- [Taking the First Step Toward Autonomous Quadruped Robots: The Quadruped Robot Challenge at ICRA 2023 in London [Competitions]](https://doi.org/10.1109/MRA.2023.3293296)

- [Terrain-Aware Quadrupedal Locomotion via Reinforcement Learning](https://arxiv.org/abs/2310.04675)

- [Towards Legged Locomotion on Steep Planetary Terrain](https://www.research-collection.ethz.ch/handle/20.500.11850/625001)

- [Tuning Legged Locomotion Controllers via Safe Bayesian Optimization](https://arxiv.org/abs/2306.07092)

- [Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation](https://www.science.org/doi/10.1126/scirobotics.adg5014)



2022






- [A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation](https://arxiv.org/abs/2202.12385v1)

- [A Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots](https://ieeexplore.ieee.org/document/9812433)

- [A Reconfigurable Leg for Walking Robots](https://ieeexplore.ieee.org/document/9667211)

- [A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learning](https://arxiv.org/abs/2208.07860)

- [A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators](https://arxiv.org/abs/2208.00810)

- [A1 SLAM: Quadruped SLAM using the A1's Onboard Sensors](https://arxiv.org/abs/2211.14432)

- [Accelerated Policy Learning with Parallel Differentiable Simulation](https://arxiv.org/abs/2204.07137)

- [Accessibility-Based Clustering for Efficient Learning of Locomotion Skills](https://arxiv.org/abs/2109.11191)

- [Advanced Skills by Learning Locomotion and Local Navigation End-to-End](https://arxiv.org/abs/2209.12827)

- [Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning](https://doi.org/10.48550/arXiv.2203.14912)

- [Agile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot](https://www.science.org/doi/10.1126/scirobotics.add1017)

- [Animal Motions on Legged Robots Using Nonlinear Model Predictive Control](https://ieeexplore.ieee.org/document/9981945)

- [Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation](https://arxiv.org/abs/2103.10534)

- [Bio-Inspired Rhythmic Locomotion for Quadruped Robots](https://ieeexplore.ieee.org/document/9780216)

- [Central pattern generators evolved for real-time adaptation](https://arxiv.org/abs/2210.08102)

- [Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion](https://arxiv.org/abs/2209.07654)

- [Collision-Backpropagation based Obstacle Avoidance Method for a Legged Robot Expressed as a Simplified Dynamics Model](https://ieeexplore.ieee.org/document/10003733)

- [Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators](https://ieeexplore.ieee.org/abstract/document/9684679)

- [Concurrent Training of a Control Policy and a State Estimator for Dynamic and Robust Legged Locomotion](https://doi.org/10.1109/LRA.2022.3151396)

- [Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning](https://link.springer.com/chapter/10.1007/978-3-031-15226-9_14)

- [Coupling Vision and Proprioception for Navigation of Legged Robots](https://arxiv.org/abs/2112.02094)

- [CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion](https://arxiv.org/abs/2211.00458)

- [Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning](https://arxiv.org/abs/2210.04435)

- [DayDreamer: World Models for Physical Robot Learning](https://openreview.net/forum?id=3RBY8fKjHeu)

- [Deep Hierarchical Planning from Pixels](https://arxiv.org/abs/2206.04114)

- [Deep reinforcement learning for real-world quadrupedal locomotion: a comprehensive review](https://www.oaepublish.com/articles/ir.2022.20)

- [Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion](https://arxiv.org/abs/2210.10044)

- [DeepPhase: periodic autoencoders for learning motion phase manifolds](https://dl.acm.org/doi/10.1145/3528223.3530178)

- [DMAP: a Distributed Morphological Attention Policy for Learning to Locomote with a Changing Body](https://arxiv.org/abs/2209.14218)

- [Elevation Mapping for Locomotion and Navigation using GPU](https://arxiv.org/abs/2204.12876)

- [Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station](https://arxiv.org/abs/2209.14649)

- [GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots](https://openreview.net/forum?id=mqry_xMzvCM)

- [Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots](https://arxiv.org/abs/2209.13145)

- [Hierarchical Decentralized Deep Reinforcement Learning Architecture for a Simulated Four-Legged Agent](https://arxiv.org/abs/2210.08003)

- [Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot](https://arxiv.org/abs/2208.01160)

- [High-speed quadrupedal locomotion by imitation-relaxation reinforcement learning](https://www.nature.com/articles/s42256-022-00576-3)

- [Human Motion Control of Quadrupedal Robots using Deep Reinforcement Learning](https://arxiv.org/abs/2204.13336)

- [Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors](https://arxiv.org/abs/2203.17138)

- [Is Conditional Generative Modeling all you need for Decision-Making?](https://arxiv.org/abs/2211.15657)

- [Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion](https://arxiv.org/abs/2210.08065)

- [Landing control method of a lightweight four-legged landing and walking robot](https://link.springer.com/article/10.1007/s11465-022-0707-1)

- [Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches](https://arxiv.org/abs/2211.06913)

- [Learning a Unified Policy for Whole-Body Control of Manipulation and Locomotion](https://openreview.net/forum?id=zldI4UpuG7v)

- [Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations](https://arxiv.org/abs/2206.11693)

- [Learning and Deploying Robust Locomotion Policies with Minimal Dynamics Randomization](https://arxiv.org/abs/2209.12878)

- [Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control](https://link.springer.com/chapter/10.1007/978-3-030-97672-9_4)

- [Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation](https://doi.org/10.48550/arXiv.2204.08647)

- [Learning Free Gait Transition for Quadruped Robots via Phase-Guided Controller](https://arxiv.org/abs/2201.00206)

- [Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion](https://arxiv.org/abs/2209.14887)

- [Learning Modular Robot Visual-motor Locomotion Policies](https://arxiv.org/abs/2210.17486)

- [Learning plastic matching of robot dynamics in closed-loop central pattern generators](https://www.nature.com/articles/s42256-022-00505-4)

- [Learning robust perceptive locomotion for quadrupedal robots in the wild](https://doi.org/10.1126/scirobotics.abk2822)

- [Learning Torque Control for Quadrupedal Locomotion](https://doi.org/10.48550/arXiv.2203.05194)

- [Learning Visual Locomotion with Cross-Modal Supervision](https://arxiv.org/abs/2211.03785)

- [Legged Locomotion in Challenging Terrains using Egocentric Vision](https://openreview.net/forum?id=Re3NjSwf0WF)

- [Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments](https://arxiv.org/abs/2203.15854)

- [Meta Reinforcement Learning for Optimal Design of Legged Robots](https://ieeexplore.ieee.org/abstract/document/9910025)

- [Model Predictive Control of Quadruped Robot Based on Reinforcement Learning](https://doi.org/10.3390/app13010154)

- [Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control](https://arxiv.org/abs/2205.14277)

- [Multi-Modal Legged Locomotion Framework With Automated Residual Reinforcement Learning](https://ieeexplore.ieee.org/document/9830825)

- [Neural Scene Representation for Locomotion on Structured Terrain](https://arxiv.org/abs/2206.08077)

- [Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion](https://ieeexplore.ieee.org/document/9811584)

- [Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis](https://arxiv.org/abs/2207.10465)

- [Online Kinematic Calibration for Legged Robots](https://ieeexplore.ieee.org/document/9807408)

- [Perceptive Locomotion through Nonlinear Model Predictive Control](https://arxiv.org/abs/2208.08373)

- [PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations](https://arxiv.org/abs/2207.13224)

- [PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains](https://arxiv.org/abs/2208.00322)

- [PSTO: Learning Energy-Efficient Locomotion for Quadruped Robots](https://doi.org/10.3390/machines10030185)

- [Quadruped Reinforcement Learning without Explicit State Estimation](https://ieeexplore.ieee.org/document/10011765)

- [Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping](https://arxiv.org/abs/2111.13648?context=cs)

- [Rapid Locomotion via Reinforcement Learning](https://arxiv.org/abs/2205.02824#)

- [Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots](https://arxiv.org/abs/2209.09508)

- [REvolveR: Continuous Evolutionary Models for Robot-to-robot Policy Transfer](https://arxiv.org/abs/2202.05244)

- [RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control](https://arxiv.org/abs/2012.03094)

- [RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms](https://arxiv.org/abs/2203.01446)

- [Safe Reinforcement Learning for Legged Locomotion](https://doi.org/10.48550/arXiv.2203.02638)

- [Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries](https://arxiv.org/abs/2210.07329)

- [Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning](https://arxiv.org/abs/2210.00474)

- [State Estimation for Hybrid Locomotion of Driving-Stepping Quadrupeds](https://arxiv.org/abs/2211.11390)

- [STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor](https://arxiv.org/abs/2202.05572)

- [TROT-Q: Traversability and Obstacle Aware Target Tracking System for Quadruped Robots](https://ieeexplore.ieee.org/document/9828258)

- [Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization](https://ieeexplore.ieee.org/document/9812296)

- [VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation](https://arxiv.org/abs/2205.01179)

- [Versatile Real-Time Motion Synthesis via Kino-Dynamic MPC with Hybrid-Systems DDP](https://arxiv.org/abs/2209.14138)

- [Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions](https://arxiv.org/abs/2209.07899)

- [ViNL: Visual Navigation and Locomotion Over Obstacles](https://arxiv.org/abs/2210.14791)

- [ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots](https://ieeexplore.ieee.org/document/9966331)

- [Walk These Ways: Gait-conditioned Policies Yield Diversified Quadrupedal Agility](https://openreview.net/forum?id=52c5e73SlS2)

- [Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization](https://arxiv.org/abs/2212.14199)



2021






- [A Review of Physics Simulators for Robotic Applications](https://ieeexplore.ieee.org/document/9386154/)

- [A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation](https://arxiv.org/abs/2103.00946)

- [Adaptive CLF-MPC With Application to Quadrupedal Robots](https://doi.org/10.1109/LRA.2021.3128697)

- [Adaptive Force-based Control for Legged Robots](https://arxiv.org/abs/2011.06236)

- [Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control](https://ieeexplore.ieee.org/document/9635838)

- [Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning](https://doi.org/10.1109/TRO.2021.3084374)

- [Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs](https://ieeexplore.ieee.org/abstract/document/9561926)

- [CPG-ACTOR: Reinforcement Learning for Central Pattern Generators](https://arxiv.org/abs/2102.12891)

- [CPG-Based Hierarchical Locomotion Control for Modular Quadrupedal Robots Using Deep Reinforcement Learning](https://ieeexplore.ieee.org/document/9465716)

- [Development of a Quadruped Robot System With Torque-Controllable Modular Actuator Unit](https://doi.org/10.1109/TIE.2020.3007084)

- [Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion](https://arxiv.org/abs/2011.02404)

- [Efficient Motion Planning Based on Kinodynamic Model for Quadruped Robots Following Persons in Confined Spaces](https://ieeexplore.ieee.org/document/9440744)

- [Fast and Efficient Locomotion via Learned Gait Transitions](https://arxiv.org/abs/2104.04644)

- [GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model](https://arxiv.org/abs/2104.09771?context=cs)

- [Imitation Learning by Reinforcement Learning](https://doi.org/10.48550/arXiv.2108.04763)

- [Imitation Learning from MPC for Quadrupedal Multi-Gait Control](https://doi.org/10.1109/ICRA48506.2021.9561444)

- [Jumping over obstacles with MIT Cheetah 2](https://doi.org/10.1016/j.robot.2020.103703)

- [Learning Agile Locomotion Skills with a Mentor](https://doi.org/10.1109/ICRA48506.2021.9561567)

- [Learning Fast Adaptation with Meta Strategy Optimization](https://doi.org/10.48550/arXiv.1909.12995)

- [Learning multiple gaits of quadruped robot using hierarchical reinforcement learning](https://doi.org/10.48550/arXiv.2112.04741)

- [Learning to Jump from Pixels](https://arxiv.org/abs/2110.15344)

- [Learning to Navigate Sidewalks in Outdoor Environments](https://doi.org/10.48550/arXiv.2109.05603)

- [Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning](https://doi.org/10.48550/arXiv.2109.11978)

- [Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformers](https://doi.org/10.48550/arXiv.2107.03996)

- [Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World](https://doi.org/10.48550/arXiv.2110.05457)

- [Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots](https://doi.org/10.48550/arXiv.2111.01674)

- [Obstacle Overcoming Gait Design for Quadruped Robot with Vision and Tactile Sensing Feedback](https://ieeexplore.ieee.org/document/9638875)

- [Perceptive Autonomous Stair Climbing for Quadrupedal Robots](https://ieeexplore.ieee.org/document/9636302)

- [Real-time Optimal Navigation Planning Using Learned Motion Costs](https://ieeexplore.ieee.org/document/9561861)

- [Reinforcement Learning for Collaborative Quadrupedal Manipulation of a Payload over Challenging Terrain](https://ieeexplore.ieee.org/document/9551481)

- [Reinforcement Learning with Evolutionary Trajectory Generator: A General Approach for Quadrupedal Locomotion](https://doi.org/10.48550/arXiv.2109.06409)

- [Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds](https://arxiv.org/abs/2012.10002)

- [RMA: Rapid Motor Adaptation for Legged Robots](https://doi.org/10.48550/arXiv.2107.04034)

- [Robust High-speed Running for Quadruped Robots via Deep Reinforcement Learning](https://arxiv.org/abs/2103.06484)

- [Search-based Kinodynamic Motion Planning for Omnidirectional Quadruped Robots](https://arxiv.org/abs/2011.00806)

- [Simulation-Based Climbing Capability Analysis for Quadrupedal Robots](https://www.research-collection.ethz.ch/handle/20.500.11850/501538)

- [Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot](https://arxiv.org/abs/2106.01974)

- [VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots](https://doi.org/10.48550/arXiv.2107.07243)

- [VILENS: Visual, Inertial, Lidar, and Leg Odometryfor All-Terrain Legged Robots](https://arxiv.org/abs/2107.07243)

- [Vision-based Terrain Perception of Quadruped Robots in Complex Environments](https://ieeexplore.ieee.org/document/9739576)

- [Visual-Locomotion: Learning to Walk on Complex Terrains with Vision](https://openreview.net/forum?id=NDYbXf-DvwZ)



2020






- [An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research](https://ieeexplore.ieee.org/document/9015985)

- [Dream to Control: Learning Behaviors by Latent Imagination](https://arxiv.org/abs/1912.01603)

- [Dynamic equilibrium of climbing robots based on stability polyhedron for gravito-inertial acceleration](https://clawar.org/wp-content/uploads/2021/02/Clawar2020_Paper_18.pdf)

- [Dynamics-Aware Unsupervised Discovery of Skills](https://arxiv.org/abs/1907.01657)

- [Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning](https://arxiv.org/abs/2004.12974)

- [First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion](https://arxiv.org/abs/2007.01520)

- [Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion](https://ieeexplore.ieee.org/abstract/document/9028178)

- [Learning Agile Robotic Locomotion Skills by Imitating Animals](https://doi.org/10.48550/arXiv.2004.00784)

- [Learning quadrupedal locomotion over challenging terrain](https://doi.org/10.1126/scirobotics.abc5986)

- [Learning to Walk in the Real World with Minimal Human Effort](https://arxiv.org/abs/2002.08550)

- [Models, Pixels, and Rewards: Evaluating Design Trade-offs in Visual Model-Based Reinforcement Learning](https://doi.org/10.48550/arXiv.2012.04603)

- [Mpc-based controller with terrain insight for dynamic legged locomotion](https://arxiv.org/abs/1909.13842)

- [Multi-expert learning of adaptive legged locomotion](https://doi.org/10.1126/scirobotics.abb2174)

- [One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control](https://doi.org/10.48550/arXiv.2007.04976)

- [Path Planning With Local Motion Estimations](https://ieeexplore.ieee.org/document/8988152)

- [Perceptive Locomotion in Rough Terrain – Online Foothold Optimization](https://ieeexplore.ieee.org/document/9134750)

- [Plane-based stairway mapping for legged robot locomotion](https://doi.org/10.1108/IR-09-2019-0189)

- [Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios](https://www.frontiersin.org/articles/10.3389/frobt.2020.00068/full)

- [Rapidly Adaptable Legged Robots via Evolutionary Meta-Learning](https://doi.org/10.48550/arXiv.2003.01239)

- [Reinforcement learning for quadrupedal locomotion with design of continual–hierarchical curriculum](https://doi.org/10.1016/j.engappai.2020.103869)

- [Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization](https://arxiv.org/abs/1909.07193)

- [Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot](https://ieeexplore.ieee.org/document/9196777)



2019






- [DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learning](https://doi.org/10.48550/arXiv.1909.08399)

- [Design a Fall Recovery Strategy for a Wheel-Legged Quadruped Robot Using Stability Feature Space](https://doi.org/10.1109/ROBIO49542.2019.8961722)

- [Dynamic Locomotion on Slippery Ground](https://doi.org/10.1109/LRA.2019.2931284)

- [Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs](https://arxiv.org/abs/1809.09759)

- [Feedback MPC for Torque-Controlled Legged Robots](https://doi.org/10.1109/IROS40897.2019.8968251)

- [Hierarchical Reinforcement Learning for Quadruped Locomotion](https://arxiv.org/abs/1905.08926)

- [Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control](https://arxiv.org/abs/1909.06586)

- [Learning a Faster Locomotion Gait for a Quadruped Robot with Model-Free Deep Reinforcement Learning](https://ieeexplore.ieee.org/document/8961651)

- [Learning agile and dynamic motor skills for legged robots](https://www.science.org/doi/10.1126/scirobotics.aau5872)

- [Model Predictive Control for Motion Planning of Quadrupedal Locomotion](https://ieeexplore.ieee.org/document/8834241)

- [Policies Modulating Trajectory Generators](https://arxiv.org/abs/1910.02812)

- [Robust Legged Robot State Estimation Using Factor Graph Optimization](https://doi.org/10.1109/LRA.2019.2933768)

- [SpaceBok: A Dynamic Legged Robot for Space Exploration](https://ieeexplore.ieee.org/document/8794136)

- [Stabilizing Off-Policy Q-Learning via Bootstrapping Error Reduction](https://doi.org/10.48550/arXiv.1906.00949)

- [Whole-body motion and landing force control for quadrupedal stair climbing](https://ieeexplore.ieee.org/document/8967527)



2018






- [Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains](https://ieeexplore.ieee.org/document/8460904)

- [Dynamic locomotion in the MIT Cheetah 3 through convex model-predictive control](https://ieeexplore.ieee.org/document/8594448)

- [Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization](https://ieeexplore.ieee.org/document/8283570)

- [Learning to Walk via Deep Reinforcement Learning](https://doi.org/10.48550/arXiv.1812.11103)

- [MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot](https://doi.org/10.1109/IROS.2018.8593885)

- [Mode-adaptive neural networks for quadruped motion control](https://dl.acm.org/doi/10.1145/3197517.3201366)

- [Per-Contact Iteration Method for Solving Contact Dynamics](https://ieeexplore.ieee.org/abstract/document/8255551)

- [Policy Transfer with Strategy Optimization](https://doi.org/10.48550/arXiv.1810.05751)

- [Robust Rough-Terrain Locomotion with a Quadrupedal Robot](https://ieeexplore.ieee.org/document/8460731)

- [Scalability Analysis of Legged Robots for Space Exploration](https://www.research-collection.ethz.ch/handle/20.500.11850/183684)

- [Sim-to-Real: Learning Agile Locomotion For Quadruped Robots](https://doi.org/10.48550/arXiv.1804.10332)



~ 2017






- [ANYmal - a highly mobile and dynamic quadrupedal robot](https://doi.org/10.1109/IROS.2016.7758092)

- [Design of HyQ – a hydraulically and electrically actuated quadruped robot](https://doi.org/10.1177/0959651811402275)

- [High-slope terrain locomotion for torque-controlled quadruped robots](https://link.springer.com/article/10.1007/s10514-016-9573-1)

- [Meta Learning Shared Hierarchies](https://doi.org/10.48550/arXiv.1710.09767)

- [Robot-Centric Elevation Mapping with Uncertainty Estimates](https://doi.org/10.1142/9789814623353_0051)

- [Slip Detection and Recovery for Quadruped Robots](https://doi.org/10.1016/j.robot.2005.07.002)

- [State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU](https://doi.org/10.7551/mitpress/9816.001.0001)

- [Survey of Numerical Methods for Trajectory Optimization](https://arc.aiaa.org/doi/10.2514/2.4231)

- [Terrain-adaptive locomotion skills using deep reinforcement learning](https://dl.acm.org/doi/10.1145/2897824.2925881)

- [Tumble stability criterion of integrated locomotion and manipulation](https://ieeexplore.ieee.org/document/571067)

- [Wholebody trajectory optimization for non-periodic dynamic motions on quadrupedal systems](https://ieeexplore.ieee.org/document/7989623)



---



## Github 💻



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- [![](https://img.shields.io/badge/PetoiCamp-OpenCat-black?style=flat-square&logo=github)](https://github.com/PetoiCamp/OpenCat) 

- [![](https://img.shields.io/badge/pypose-pypose-black?style=flat-square&logo=github)](https://github.com/pypose/pypose) 

- [![](https://img.shields.io/badge/robomechanics-quad--sdk-black?style=flat-square&logo=github)](https://github.com/robomechanics/quad-sdk) 

- [![](https://img.shields.io/badge/robot--descriptions-awesome--robot--descriptions-black?style=flat-square&logo=github)](https://github.com/robot-descriptions/awesome-robot-descriptions)  

- [![](https://img.shields.io/badge/silvery107-rl--mpc--locomotion-black?style=flat-square&logo=github)](https://github.com/silvery107/rl-mpc-locomotion) 

- [![](https://img.shields.io/badge/stanfordroboticsclub-StanfordQuadruped-black?style=flat-square&logo=github)](https://github.com/stanfordroboticsclub/StanfordQuadruped) 

- [![](https://img.shields.io/badge/TopHillRobotics-quadruped--robot-black?style=flat-square&logo=github)](https://github.com/TopHillRobotics/quadruped-robot) 

- [![](https://img.shields.io/badge/unitreerobotics-unitree_mujoco-black?style=flat-square&logo=github)](https://github.com/unitreerobotics/unitree_mujoco) 

- [![](https://img.shields.io/badge/unitreerobotics-unitree_sdk2-black?style=flat-square&logo=github)](https://github.com/unitreerobotics/unitree_sdk2) 

- [![](https://img.shields.io/badge/vaCodeDog-legged--robots--manipulation-black?style=flat-square&logo=github)](https://github.com/aCodeDog/legged-robots-manipulation) 

- [![](https://img.shields.io/badge/vikashplus-robohive-black?style=flat-square&logo=github)](https://github.com/vikashplus/robohive) 



---



## Youtube 🎥



Channels



- [AI Robotics Seminar - University of Toronto](https://www.youtube.com/@AIRoboticsSeminar-UofT)

- [ANYbotics](https://www.youtube.com/channel/UC1B-ML60I2hKTvygvMjubnw)

- [Biomimetics MIT](https://www.youtube.com/user/MITbiomimetics)

- [BIOROB](https://www.youtube.com/@epflbiorob)

- [Boston Dynamics](https://www.youtube.com/user/BostonDynamics)

- [CMU Robotic Exploration Lab](https://www.youtube.com/@roboticexplorationlab3724)

- [cmurobotics](https://www.youtube.com/user/cmurobotics/featured)

- [Conference on Robot Learning](https://www.youtube.com/channel/UCXnxdtIKJVUN0I-gKo2Chmg)

- [DeepMind](https://www.youtube.com/channel/UCP7jMXSY2xbc3KCAE0MHQ-A)

- [DeepRobotics](https://www.youtube.com/channel/UCj73fOsxOlugnBPJOoM9rHw)

- [Dynamic Robotics Laboratory - Oregon State University](https://www.youtube.com/OregonStateDRL)

- [Erwin Coumans](https://www.youtube.com/user/erwincoumans)

- [ETH Zürich](https://www.youtube.com/user/ethzurich)

- [Figure AI](https://www.youtube.com/figureai)

- [Ghost Robotics](https://www.youtube.com/c/GhostRobotics)

- [Hybrid Robotics](https://www.youtube.com/channel/UCF18oH66MtrfUT3lpFc1xig)

- [IHMC Robotics](https://www.youtube.com/IHMCRobotics)

- [KAIST Urban Robotics Lab](https://www.youtube.com/user/urobotkaist)

- [magnecko](https://www.youtube.com/@magnecko)

- [MIT Robotics](https://www.youtube.com/channel/UCK2tKzmSFFnpFhUXtRKjvnQ)

- [MPCRL 2021](https://www.youtube.com/channel/UCkRH02MnrxbBZ64vgJPtOkg) - [Recent advances in MPC and RL for legged robots](https://sites.google.com/view/mpc-and-rl-for-legged-robots)

- [Northwestern Robotics](https://www.youtube.com/user/kevinl2145)

- [Oxford Dynamic Robot Systems Group](https://www.youtube.com/channel/UCaiUvr8geeebTWtEcQgUzpw) 

- [PRO ROBOTS](https://www.youtube.com/channel/UCu8luTDe_Xxd2ahAXsCWX5g)

- [RaiLab Kaist](https://www.youtube.com/channel/UC2kxDvHbUj-nQlUMw09ih0Q)

- [RcLab](https://www.youtube.com/channel/UCCDU6dQ7FDBjOTlkAuHQ21g)

- [Reinforcement Learning Zurich](https://www.youtube.com/channel/UCml6vXgE_n2XdhONgSnkPFw)

- [RISE LAB - SKKU](https://www.youtube.com/@rise-lab-skku)

- [Robomechanics Lab](https://www.youtube.com/channel/UCKD78aZAsdB9-JTwrt6Q1KA)

- [robot mania](https://www.youtube.com/channel/UCTFtuhl7YBPPdsoU9xEWxnA)

- [Robotics Innovatory](https://www.youtube.com/channel/UCgswqO84K3B2tMUdecHBuJQ)

- [Robotics Today](https://www.youtube.com/channel/UCtfiXX2nJ5Qz-ZxGEwDCy5A)

- [Stoch Lab IISc](https://www.youtube.com/channel/UC4SBmq_fVgzyaqHHyITkSjA)

- [The Robot Brains Podcast](https://www.youtube.com/channel/UCXNviQjBONXljxkJzNV-Xbw)

- [umrobotics](https://www.youtube.com/channel/UC-WH2n-SkB166pUq5o5ULUg)

- [Unitree Robotics](https://www.youtube.com/channel/UCsMbp4V8oxzHCMdOUP-3oWw)



---



## Lab 👥



Homepages



- [Biomimetic Robotics Lab - MIT](https://biomimetics.mit.edu/)

- [Biorobotics Laboratory (BioRob) - EPFL](https://www.epfl.ch/labs/biorob/)

- [Computational Robotics Lab - ETH](http://crl.ethz.ch/)

- [Dynamic and Autonomous Robotic Systems (DARoS) Laboratory - University of Massachusetts Amherst](https://groups.cs.umass.edu/daros/sample-home-page/)

- [Dynamic Legged Systems Lab - Istituto Italiano di Tecnologia](https://www.iit.it/web/dynamic-legged-systems)

- [Dynamic Robot Systems Group - University of Oxford](https://ori.ox.ac.uk/labs/drs/)

- [Hybrid Robotics Lab - UC Berkely](https://hybrid-robotics.berkeley.edu/)

- [RAI Lab - KAIST](https://www.railab.kaist.ac.kr/)

- [RcLab - Kookmin University](https://rclab.kookmin.ac.kr/home)

- [Robomechanics Lab - Carnegie Mellon University](https://www.cmu.edu/me/robomechanicslab/)

- [Robotic System Lab - ETH Zürich](https://rsl.ethz.ch/)

- [Robotics Innovatory - SungKyunKwan University](https://mecha.skku.ac.kr/roboticsinnovatory/index.do)

- [Stochastic Robotics Lab (StochLab) - IISc](https://www.stochlab.com/)

- [The Robotics Lab - IDSIA](https://idsia-robotics.github.io/)



## Related Materials



More



> Extended to Bipedal(Legged) Robots



**Research**



- [Berkeley Humanoid: A Research Platform for Learning-based Control](https://arxiv.org/abs/2407.21781)

- [CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control](https://arxiv.org/pdf/2408.09662)

- [Deep Reinforcement Learning for Low-Cost Humanoid Robot Soccer Players: Dynamic Skills and Efficient Transfer](https://ieeexplore.ieee.org/document/10537661)

- [FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning](https://arxiv.org/abs/2402.13820)

- [HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation](https://arxiv.org/abs/2403.10506)

- [HumanPlus: Humanoid Shadowing and Imitation from Humans](https://humanoid-ai.github.io/HumanPlus.pdf)

- [Hybrid Stepping Motion Generation for Wheeled-Bipedal Robots Without Roll Joints on Legs](https://ieeexplore.ieee.org/abstract/document/10406411)

- [Integrating Model-Based Footstep Planning with Model-Free Reinforcement Learning for Dynamic Legged Locomotion](https://arxiv.org/abs/2408.02662)

- [Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning](https://arxiv.org/abs/2304.13653)

- [Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation](https://arxiv.org/abs/2403.04436)

- [Learning hybrid locomotion skills—Learn to exploit residual actions and modulate model-based gait control](https://www.frontiersin.org/articles/10.3389/frobt.2023.1004490/full)

- [Learning Skateboarding for Humanoid Robots through Massively Parallel Reinforcement Learning](https://arxiv.org/abs/2409.07846)

- [Learning to Walk and Fly with Adversarial Motion Priors](https://arxiv.org/abs/2309.12784)

- [Learning Vision-Based Bipedal Locomotion for Challenging Terrain](https://arxiv.org/abs/2309.14594)

- [Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models](https://arxiv.org/abs/2309.02976)

- [Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation](https://arxiv.org/abs/2409.20514)

- [Real-World Humanoid Locomotion with Reinforcement Learning](https://arxiv.org/abs/2303.03381)

- [Whole-body simulation of realistic fruit fly locomotion with deep reinforcement learning](https://www.biorxiv.org/content/10.1101/2024.03.11.584515v1)



**Github Repositories**



- [![](https://img.shields.io/badge/carlosferrazza-humanoid--bench-black?style=flat-square&logo=github)](https://github.com/carlosferrazza/humanoid-bench) 

- [![](https://img.shields.io/badge/jonyzhang2023-awesome--humanoid--learning-black?style=flat-square&logo=github)](https://github.com/jonyzhang2023/awesome-humanoid-learning) 

- [![](https://img.shields.io/badge/MarkFzp-humanplus-black?style=flat-square&logo=github)](https://github.com/MarkFzp/humanplus) 

- [![](https://img.shields.io/badge/mit--biomimetics-fld-black?style=flat-square&logo=github)](https://github.com/mit-biomimetics/fld) 

- [![](https://img.shields.io/badge/pocketxjl-humanoid--control-black?style=flat-square&logo=github)](https://github.com/pocketxjl/humanoid-control) 

- [![](https://img.shields.io/badge/roboterax-humanoid--gym-black?style=flat-square&logo=github)](https://github.com/Skylark0924/Rofunc) 

- [![](https://img.shields.io/badge/Skylark0924-Rofunc-black?style=flat-square&logo=github)](https://github.com/Skylark0924/Rofunc) 



**Labs & Companies**



- [Agility Robotics](https://www.youtube.com/@AgilityRobotics)

- [Boardwalk Robotics - Nadia](https://boardwalkrobotics.com/Nadia.html)

- [Boston Dynamics - Electric Altas](https://bostondynamics.com/blog/electric-new-era-for-atlas)

- [Dynamic Robotics Laboratory - Oregon State University](https://mime.engineering.oregonstate.edu/research/drl/)

- [Human Centered Robotics Laboratory - University of Texas at Austin](http://sites.utexas.edu/hcrl/)

- [Hybrid Robotics - Berkeley Humanoid](https://berkeley-humanoid.com/)

- [Institute for Human and Machine Cognition - Nadia](https://robots.ihmc.us/)

- [Unitree - G1](https://mp.weixin.qq.com/s/RGNVRazZqDn3y_Ijemc5Kw)



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