resources

A curated library of papers, videos, tools and references for legged robotics.

A curated collection of papers, videos, tools, and references for legged robotics (actuators, control, design).

Maintained in the Legged-Robots repository · last synced 2026-09-18 14:46 UTC

Research Papers

Legged Robot Mechanical Design

Actuators, Gearboxes and Motors

Planetary Gearboxes
Cycloidal Gearboxes
Series Elastic Actuators (SEA)
Dual-Motor Actuators
Modelling Actuator Dynamics
Motor Theory & Dyno / Testing

Robot Design

Design Principles for Legged Robots
Quadruped Robot Design Papers
Humanoid Robot Design
Design Patents

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

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