Miniature LocomotionExpert
Around the World: Unified Learned Locomotion on a 270 g Continuous-Rotation Quadruped
This preprint presents a single learned locomotion policy for MiNI-Q, a 270 g quadruped with continuous-rotation legs, running entirely onboard at 50 Hz. It reports forward-velocity RMSE of 0.037 m/s upright and 0.050 m/s inverted, 24/30 release recoveries, and successful walking with four foot geometries across four surfaces without retraining. The result shows that continuous-rotation topology can unify upright/inverted locomotion, posture changes, and recovery in one compact controller for sub-kilogram robots.