When to Waddle: A Comparative Study of Bipedal Torso-Stabilization on Low-Friction Surfaces

arXiv:2609.21185 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-21

Terminology

• Robustness — 6× in this paper · explained in 5 episodes
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

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