Gait-Dependent Effects on Quadruped Locomotion for Load-Carrying using Passive Mechanism

arXiv:2609.11059 · cs.RO · Submitted 2026-09-10 · Read on arXiv

cs.RO

Submitted: 2026-09-10

Updated: 2026-09-18

Terminology

• Model Predictive Control — 4× in this paper
• Model Predictive Control (MPC) — 2× in this paper · explained in 5 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Zero Moment Point — 1× in this paper

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving