# LEVA: A high-mobility logistic vehicle with legged suspension

arXiv: https://arxiv.org/abs/2503.10028 · HTML: https://mlsanity.com/paper/2503.10028/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Mar 2025.

## Built on by (most cited first, 1 of 1)

- [Transporting Unsecured Stacked Payloads with a Quadrupedal Robot via Multi-Objective Reinforcement Learning](https://mlsanity.com/paper/2610.05819/) (2026)

## Abstract (arXiv)

The autonomous transportation of materials over challenging terrain is a challenge with major economic implications and remains unsolved. This paper introduces LEVA, a high-payload, high-mobility robot designed for autonomous logistics across varied terrains, including those typical in agriculture, construction, and search and rescue operations. LEVA uniquely integrates an advanced legged suspension system using parallel kinematics. It is capable of traversing stairs using a rl controller, has steerable wheels, and includes a specialized box pickup mechanism that enables autonomous payload loading as well as precise and reliable cargo transportation of up to 85 kg across uneven surfaces, steps and inclines while maintaining a cot of as low as 0.15. Through extensive experimental validation, LEVA demonstrates its off-road capabilities and reliability regarding payload loading and transport.