✨A Hierarchical Framework for Humanoid Locomotion with Supernumerary Limbs
📝 Summary:
A hierarchical control framework enables stable humanoid locomotion with supernumerary limbs. It combines learning-based gait with model-based limb balancing, improving stability and reducing the CoM trajectory Dynamic Time Warping distance by 47%. This decoupled design effectively mitigates dyna...
🔹 Publication Date: Published on Nov 25
🔹 Paper Links:
• arXiv Page: https://arxiv.org/abs/2512.00077
• PDF: https://arxiv.org/pdf/2512.00077
• Github: https://github.com/heyzbw/HuSLs
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For more data science resources:
✓ https://t.me/DataScienceT
#Robotics #HumanoidRobotics #Locomotion #ControlSystems #SupernumeraryLimbs
📝 Summary:
A hierarchical control framework enables stable humanoid locomotion with supernumerary limbs. It combines learning-based gait with model-based limb balancing, improving stability and reducing the CoM trajectory Dynamic Time Warping distance by 47%. This decoupled design effectively mitigates dyna...
🔹 Publication Date: Published on Nov 25
🔹 Paper Links:
• arXiv Page: https://arxiv.org/abs/2512.00077
• PDF: https://arxiv.org/pdf/2512.00077
• Github: https://github.com/heyzbw/HuSLs
==================================
For more data science resources:
✓ https://t.me/DataScienceT
#Robotics #HumanoidRobotics #Locomotion #ControlSystems #SupernumeraryLimbs