{"id":"https://openalex.org/W7164842751","doi":"https://doi.org/10.48550/arxiv.2606.14270","title":"Robust Fall Recovery for Armless Bipedal-Wheeled Robots Via Force-Guided Learning","display_name":"Robust Fall Recovery for Armless Bipedal-Wheeled Robots Via Force-Guided Learning","publication_year":2026,"publication_date":"2026-06-12","ids":{"openalex":"https://openalex.org/W7164842751","doi":"https://doi.org/10.48550/arxiv.2606.14270"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.14270","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.14270","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.14270","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138139651","display_name":"Haidong Hou","orcid":"https://orcid.org/0009-0008-9510-1846"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hou, Haidong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Zhangguo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138637522","display_name":"Tao Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Tao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063435135","display_name":"Hengbo Qi","orcid":"https://orcid.org/0009-0006-0358-3776"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qi, Hengbo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138192144","display_name":"Khaleel Ghazal","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ghazal, Khaleel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138655654","display_name":"Yu Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033327393","display_name":"Yidong Du","orcid":"https://orcid.org/0000-0001-9362-5269"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Yidong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050003106","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0003-1136-3053"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xuechao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138686630","display_name":"Fei Meng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Meng, Fei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9609000086784363,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9609000086784363,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.03319999948143959,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.0006000000284984708,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7257000207901001},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.7121999859809875},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5188000202178955},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.48980000615119934},{"id":"https://openalex.org/keywords/dependency","display_name":"Dependency (UML)","score":0.4893999993801117},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.32010000944137573},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.31450000405311584},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.30730000138282776}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7257000207901001},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.7121999859809875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5681999921798706},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5188000202178955},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.48980000615119934},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.4893999993801117},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3521000146865845},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34929999709129333},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33629998564720154},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.32010000944137573},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31450000405311584},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29339998960494995},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2921000123023987},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2915000021457672},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.28600001335144043},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2754000127315521},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.26649999618530273},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2651999890804291},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.14270","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.14270","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.14270","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.14270","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Fall":[0],"recovery":[1,25,61,123,139,156,180],"is":[2,109,163,214],"critical":[3],"for":[4,129],"autonomous":[5],"legged":[6,14],"locomotion.":[7],"Existing":[8],"methods":[9],"have":[10],"demonstrated":[11],"that":[12,87],"some":[13],"robots,":[15],"such":[16],"as":[17,99],"humanoids":[18],"and":[19,116,140,155,171,177,189],"quadrupeds,":[20],"are":[21],"capable":[22],"of":[23,57,152],"fall":[24,179],"from":[26],"diverse":[27,182],"postures":[28],"by":[29],"utilizing":[30],"arms":[31,40,128],"or":[32,41],"coordinating":[33],"multi-legs":[34],"to":[35,44,142,203],"generate":[36],"support":[37],"forces.":[38],"Without":[39],"other":[42],"legs":[43],"provide":[45],"supportive":[46],"assistance,":[47],"a":[48,166,204],"bipedal-wheeled":[49,169],"robot":[50,170],"must":[51],"rely":[52],"solely":[53],"on":[54,165],"the":[55,91,107,118,161],"actuation":[56],"its":[58,208],"legs,":[59],"making":[60],"particularly":[62],"difficult.":[63],"To":[64],"address":[65],"this,":[66],"we":[67],"introduce":[68],"FTSR":[69],"(Force-guided":[70],"Teacher-student":[71],"framework":[72,199],"with":[73,90,146],"Stage-wise":[74],"Rewards).":[75],"The":[76,198,211],"force-guided":[77],"method":[78],"constructs":[79],"an":[80,100],"external":[81],"auxiliary":[82],"force":[83,98,113,153],"during":[84,138],"simulation":[85,159],"training":[86],"correlates":[88],"directly":[89],"robot's":[92],"real-time":[93],"height,":[94,120],"explicitly":[95],"formulating":[96],"this":[97],"optimizable":[101],"constraint.":[102],"Through":[103],"constrained":[104],"reinforcement":[105],"learning,":[106],"policy":[108,162],"guided":[110],"toward":[111],"reducing":[112],"dependency":[114],"gradually":[115],"increasing":[117],"body":[119],"developing":[121],"internal":[122],"strategies":[124],"despite":[125],"having":[126],"no":[127],"support.":[130],"Height-progressive":[131],"stage-Wise":[132],"rewards":[133],"progressively":[134],"structure":[135],"posture":[136],"stabilization":[137],"transition":[141],"sustained":[143],"locomotion,":[144],"integrated":[145],"teacher-student":[147],"architecture":[148],"distilling":[149],"privileged":[150],"knowledge":[151],"effects":[154],"dynamics.":[157],"After":[158],"training,":[160],"deployed":[164],"physical":[167],"armless":[168],"extensively":[172],"evaluated.":[173],"Experiments":[174],"confirm":[175],"robust":[176],"reliable":[178],"under":[181],"challenging":[183],"conditions,":[184],"demonstrating":[185],"strong":[186],"environmental":[187],"adaptability":[188],"motion":[190,196],"robustness,":[191],"while":[192],"maintaining":[193],"full":[194],"post-recovery":[195],"capability.":[197],"also":[200],"generalizes":[201],"effectively":[202],"high-DOF":[205],"humanoid,":[206],"confirming":[207],"practical":[209],"generalizability.":[210],"project":[212],"page":[213],"available":[215],"at":[216],"https://2350575870.github.io/force-guided.github.io/":[217]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-16T00:00:00"}
