A curated collection of papers, videos, tools, and references for legged robotics (actuators, control, design).
Research Papers
Legged Robot Mechanical Design
Robot Design
- Humanoid Robot Design Papers
- Quadruped Robot Design Papers
- Design Principles for Legged Robots
- Design Patents
Actuators, Gearboxes and Motors
- Planetary Gearboxes
- Cycloidal Gearboxes
- Series Elastic Actuators (SEA)
- Dual-Motor Actuators
- Modelling Actuator Dynamics
- Motor Theory & Dyno / Testing
Legged Robot Control
- Model-based Control: Quadrupeds
- Learning-based Control: Quadrupeds
- Interesting Behaviors in Quadrupeds
- Learning-based Control: Humanoids
Co-design Optimization of Legged Robots
- Design Optimization and Co-Design Optimization
- Surveys
- Quadruped: Model-Based Control
- Quadruped: Reinforcement Learning
- Biped and Humanoid: Model-Based Control
- Biped and Humanoid: Reinforcement Learning
- Monoped Jumping
- RL-Based Design Generation and Neural Design Policies
- Other Learning-Based and General Methods
Hands-on Resources
- YouTube Projects and Videos
- Useful GitHub Repositories
- Workshops
- Video Lectures
- Books
- Articles
- Random Cool Stuff
Community
- Professors & Labs: Researchers and labs working on legged robots, by region
- Conferences & Journals: Venues, deadlines, and dates for robotics and space robotics, plus yearly ICRA/IROS/Humanoids paper lists
- Robotics Companies: India-focused directory across legged/humanoid, AMR, actuators, drones, and more
Hardware
- Buying Hardware & Parts: Motors, drivers, stators, magnets, manufacturing tools