mlsanityData to 7 Oct 2026

Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running

arXiv 2508.03070 ↗First posted 5 Aug 2025cs.RO cs.AIcited by 3

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Abstract (arXiv)

In this paper, we explore the space of running gaits for the bipedal robot Cassie. Our first contribution is to present an approach for optimizing gait efficiency across a spectrum of speeds with the aim of enabling extremely high-speed running on hardware. This raises the question of how the resulting gaits compare to human running mechanics, which are known to be highly efficient in comparison to quadrupeds. Our second contribution is to conduct this comparison based on established human biomechanical studies. We find that despite morphological differences between Cassie and humans, key properties of the gaits are highly similar across a wide range of speeds. Finally, our third contribution is to integrate the optimized running gaits into a full controller that satisfies the rules of the real-world task of the 100m dash, including starting and stopping from a standing position. We demonstrate this controller on hardware to establish the Guinness World Record for Fastest 100m by a Bipedal Robot.

Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Builds on 15 of its 23 references that are in the map. First posted on arXiv 5 Aug 2025.

Builds on

15 of 23 references.

References · 15

  1. 2017Proximal Policy Optimization Algorithmscited by 14,441
  2. 2017Sim-to-Real Transfer of Robotic Control with Dynamics Randomizationcited by 616
  3. 2020Learning Quadrupedal Locomotion over Challenging Terraincited by 494
  4. 2019Learning agile and dynamic motor skills for legged robotscited by 402
  5. 2018Sim-to-Real: Learning Agile Locomotion For Quadruped Robotscited by 277
  6. 2021Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robotscited by 95
  7. 2021Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learningcited by 73
  8. 2020Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Compositioncited by 71
  9. 2021Fast and Efficient Locomotion via Learned Gait Transitionscited by 50
  10. 2019DeepGait: Planning and Control of Quadrupedal Gaits using Deep Reinforcement Learningcited by 45
  11. 2016Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter?cited by 44
  12. 2018Feedback Control For Cassie With Deep Reinforcement Learningcited by 36
3 more
  1. 2020Learning Memory-Based Control for Human-Scale Bipedal Locomotioncited by 20
  2. 2022Sim-to-Real Learning for Bipedal Locomotion Under Unsensed Dynamic Loadscited by 9
  3. 2021Learning Bipedal Robot Locomotion from Human Movementcited by 4

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 1; 2026: 2.

3 papers.

  1. 2025CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functionscited by 8
  2. 2026SPRINT: Efficient Spectral Priors for Humanoid Athletic Sprintscited by 0
  3. 2026GaitSpan: Growing Humanoid Locomotion from Walking to Runningcited by 0