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Review Aug 2026

Evolution of humanoid locomotion control.

This survey positions humanoid control at a turning point, converging toward a unified paradigm of physics-guided generative intelligence that integrates optimization, learning, and predictive reasoning.

Yan Gu, Guan-Ya Shi, Fan Shi et al. · 8 citations
Conference Jul 2026

Human-Inspired Redundancy Resolution for Upper-Limb Robotics Using Phase-Dominant Performance Criteria

The aim of this study is to develop improved motion planning algorithms for humanoid robots and to enhance prosthetic control and rehabilitation training through predictive interfaces grounded in natural human movement. To address this aim, we introduce a synthesized biomechanically plausible human-inspired inverse-kin...

Urvish Trivedi, Dimitrios Menychtas, Redwan Alqasemi et al. · 0 citations
Conference Jul 2026

Reinforcement Learning-based Impact Forces-Optimized Gait Control for Humanoid Locomotion: Toward Smooth and Quiet Walking

This paper proposes a reinforcement learning-based Impact Forces-Optimized Gait Control framework for achieving smooth and quiet humanoid locomotion. The proposed method integrates a quintic polynomial swing-foot trajectory designed to ensure zero vertical velocity and acceleration at foot-ground contact with a joint-j...

Hyeonseok Jeong, Yunsoo Kim, Changeui Shin et al. · 0 citations
Conference Jul 2026

Underactuated Virtual Gravity Control: Harnessing Passive Dynamics for Optimally Efficient Bipedal Locomotion

This paper explores the Underactuated Virtual Gravity (UVG) controller, a model-based control approach designed to achieve energy-efficient bipedal walking. The UVG controller minimizes actuator effort during level-ground walking by capitalizing on the inherent dynamics that facilitate stable passive gaits on downward...

Aikaterini Smyrli, E. Papadopoulos · 0 citations
Preprint Aug 2026

Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions

A functional closed-loop walking controller for Poppy, based on the linear-quadratic regulator (LQR) framework for trajectory tracking, which learns a quadratic cost function for an LQR controller that substantially improves the reliability of the motion.

Xu-Lin Chen, Borui He, Rui-Peng Liu et al. · 0 citations
Open access Aug 2026

Locomotion Control Strategy Design and Simulation of Parallel-Legged Insect-Scale Micro Crawling Robot

High nonlinearity and limited computational resources create persistent challenges for achieving autonomous, stable, and accurate locomotion in insect-scale crawling robots, hindering their practical deployment. In this study, we build the mathematical models of the insect-scale micro crawling robot named PLioBot and p...

Qun-Wei Zhu, Tao Jiang, Zi-Rong Luo et al. · 0 citations

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