{"id":"https://openalex.org/W7166697465","doi":"https://doi.org/10.48550/arxiv.2606.30243","title":"KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability","display_name":"KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability","publication_year":2026,"publication_date":"2026-06-29","ids":{"openalex":"https://openalex.org/W7166697465","doi":"https://doi.org/10.48550/arxiv.2606.30243"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.30243","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.30243","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":null,"license_id":null,"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.2606.30243","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139642504","display_name":"Luca Rossini","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rossini, Luca","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Laurenzi, Arturo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013273202","display_name":"Francesco Ruscelli","orcid":"https://orcid.org/0000-0002-4936-8389"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ruscelli, Francesco","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015357957","display_name":"Yifang Zhang","orcid":"https://orcid.org/0000-0003-4539-8692"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yifang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139672741","display_name":"Giovanbattista Gravina","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Jingcheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057285974","display_name":"Lorenzo Baccelliere","orcid":"https://orcid.org/0000-0002-3396-328X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gravina, Giovanbattista","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115722109","display_name":"Corrado Burchielli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Baccelliere, Lorenzo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022496809","display_name":"Stefano Cordasco","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Burchielli, Corrado","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139632932","display_name":"Nikos Tsagarakis","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cordasco, Stefano","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Muratore, Luca","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Muratore, Luca","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Tsagarakis, Nikos","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tsagarakis, Nikos","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":0.9854999780654907,"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":0.9854999780654907,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.006300000008195639,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.003000000026077032,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6273000240325928},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6154999732971191},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6108999848365784},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.474700003862381},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.45590001344680786},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.39320001006126404},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.37929999828338623},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.37049999833106995},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.351500004529953}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6273000240325928},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6154999732971191},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6108999848365784},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5422000288963318},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5372999906539917},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.474700003862381},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4717000126838684},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.45590001344680786},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.39320001006126404},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.37929999828338623},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.37049999833106995},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3668000102043152},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.351500004529953},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.32109999656677246},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3183000087738037},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.31310001015663147},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3073999881744385},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3037000000476837},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.29089999198913574},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.290800005197525},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.27300000190734863},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.2599000036716461},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.25839999318122864},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25780001282691956},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.30243","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.30243","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.30243","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.30243","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":null,"license_id":null,"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":{"This":[0],"paper":[1],"presents":[2],"KYON,":[3],"a":[4,11,21,25,63,69],"hybrid":[5],"wheel-legged":[6],"quadruped":[7],"robot":[8,61],"equipped":[9],"with":[10,24,68],"bimanual":[12,99],"upper":[13],"body":[14],"for":[15,83],"loco-manipulation":[16],"tasks.":[17],"The":[18,60],"platform":[19],"features":[20],"semi-modular":[22],"design":[23,40],"reconfigurable":[26],"lower":[27],"legs,":[28],"enabling":[29],"both":[30],"wheeled":[31],"and":[32,48,57,78,88,98,109],"legged":[33],"locomotion":[34,87,97],"depending":[35],"on":[36],"the":[37,46,84,102],"environment.":[38],"A":[39],"approach":[41],"that":[42],"places":[43],"actuators":[44],"in":[45,107],"base":[47],"uses":[49],"transmission":[50],"mechanisms":[51],"reduces":[52],"distal":[53],"inertia,":[54],"improving":[55],"agility":[56],"dynamic":[58,96],"performance.":[59],"integrates":[62],"whole-body":[64],"control":[65],"framework":[66],"together":[67],"reinforcement":[70],"learning":[71],"based":[72],"policy":[73],"to":[74,81,105],"handle":[75],"nonlinear":[76],"dynamics":[77],"enhance":[79],"robustness":[80],"disturbances":[82],"execution":[85],"of":[86],"manipulation":[89],"tasks,":[90],"independently.":[91],"Experimental":[92],"results":[93],"demonstrate":[94],"effective":[95],"manipulation,":[100],"validating":[101],"platform's":[103],"capability":[104],"operate":[106],"complex":[108],"unstructured":[110],"scenarios.":[111]},"counts_by_year":[],"updated_date":"2026-07-09T05:49:46.723101","created_date":"2026-07-01T00:00:00"}
