Legged-Robots

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

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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