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The Duke Humanoid: Design and Control for Energy-Efficient Bipedal Locomotion Using Passive Dynamics

Boxi Xia, Bokuan Li, Jacob Lee, Michael Scutari, Boyuan Chen 0001. The Duke Humanoid: Design and Control for Energy-Efficient Bipedal Locomotion Using Passive Dynamics. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025. pages 6579-6586, IEEE, 2025. [doi]

Authors

Boxi Xia

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Bokuan Li

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Jacob Lee

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Michael Scutari

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Boyuan Chen 0001

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