{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,22]],"date-time":"2026-07-22T05:31:54Z","timestamp":1784698314069,"version":"3.55.0"},"reference-count":129,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100002338","name":"Ministry of Education of the People's Republic of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002338","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Robotics and Autonomous Systems"],"published-print":{"date-parts":[[2026,7]]},"DOI":"10.1016\/j.robot.2026.105434","type":"journal-article","created":{"date-parts":[[2026,3,14]],"date-time":"2026-03-14T16:10:17Z","timestamp":1773504617000},"page":"105434","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":1,"special_numbering":"C","title":["Jumping in legged robots: A review of advances in jumping abilities, methods, challenges, and future directions"],"prefix":"10.1016","volume":"201","author":[{"given":"Jingshuo","family":"Xie","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hui","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4274-1996","authenticated-orcid":false,"given":"Shida","family":"Nie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Changle","family":"Xiang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lijin","family":"Han","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"2","key":"10.1016\/j.robot.2026.105434_b1","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1007\/s10846-023-01882-7","article-title":"Balance and posture control of legged robots: A survey","volume":"108","author":"Bah\u00e7eci","year":"2023","journal-title":"J. Intell. Robot. Syst."},{"key":"10.1016\/j.robot.2026.105434_b2","doi-asserted-by":"crossref","DOI":"10.1016\/j.engappai.2024.109418","article-title":"A survey on legged robots: Advances, technologies and applications","volume":"138","author":"Wu","year":"2024","journal-title":"Eng. Appl. Artif. Intell."},{"key":"10.1016\/j.robot.2026.105434_b3","article-title":"Learning-based legged locomotion: State of the art and future perspectives","author":"Ha","year":"2024","journal-title":"Int. J. Robot. Res."},{"key":"10.1016\/j.robot.2026.105434_b4","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/TRO.2023.3324580","article-title":"Optimization-based control for dynamic legged robots","volume":"40","author":"Wensing","year":"2024","journal-title":"IEEE Trans. Robot."},{"key":"10.1016\/j.robot.2026.105434_b5","doi-asserted-by":"crossref","DOI":"10.1016\/j.mechmachtheory.2023.105448","article-title":"A study on quadruped mobile robots","volume":"190","author":"Taheri","year":"2023","journal-title":"Mech. Mach. Theory"},{"key":"10.1016\/j.robot.2026.105434_b6","series-title":"Humanoid locomotion and manipulation: Current progress and challenges in control, planning, and learning","author":"Gu","year":"2025"},{"key":"10.1016\/j.robot.2026.105434_b7","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2024.104777","article-title":"Overview of structure and drive for wheel-legged robots","volume":"181","author":"Zhu","year":"2024","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.robot.2026.105434_b8","series-title":"2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"5712","article-title":"Leg design for energy management in an electromechanical robot","author":"Kenneally","year":"2015"},{"issue":"3","key":"10.1016\/j.robot.2026.105434_b9","doi-asserted-by":"crossref","first-page":"1754","DOI":"10.1109\/TMECH.2022.3226773","article-title":"Control of two-degree-of-freedom inertial appendages of a small-scale jumping robot for enhanced terrestrial and aerial maneuverability","volume":"28","author":"Hong","year":"2022","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"10.1016\/j.robot.2026.105434_b10","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2024.104696","article-title":"Energy-recoverable landing strategy for small-scale jumping robots","volume":"176","author":"Hong","year":"2024","journal-title":"Robot. Auton. Syst."},{"issue":"8","key":"10.1016\/j.robot.2026.105434_b11","doi-asserted-by":"crossref","first-page":"4673","DOI":"10.1109\/LRA.2023.3287795","article-title":"Design and optimization of a miniature locust-inspired stable jumping robot","volume":"8","author":"Xu","year":"2023","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"6","key":"10.1016\/j.robot.2026.105434_b12","doi-asserted-by":"crossref","DOI":"10.1088\/1748-3190\/10\/6\/066012","article-title":"A locust-inspired miniature jumping robot","volume":"10","author":"Zaitsev","year":"2015","journal-title":"Bioinspiration & Biomimetics"},{"key":"10.1016\/j.robot.2026.105434_b13","series-title":"2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"3345","article-title":"Repetitive extreme-acceleration (14-g) spatial jumping with Salto-1P","author":"Haldane","year":"2017"},{"key":"10.1016\/j.robot.2026.105434_b14","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2022.104268","article-title":"Spring-linkage integrated mechanism design for jumping robots","volume":"158","author":"Yin","year":"2022","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.robot.2026.105434_b15","doi-asserted-by":"crossref","DOI":"10.1016\/j.mechmachtheory.2024.105688","article-title":"Characterising the take-off dynamics and energy efficiency in spring-driven jumping robots","volume":"199","author":"Lo","year":"2024","journal-title":"Mech. Mach. Theory"},{"key":"10.1016\/j.robot.2026.105434_b16","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2019.103362","article-title":"Biologically inspired jumping robots: A comprehensive review","volume":"124","author":"Zhang","year":"2020","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.robot.2026.105434_b17","unstructured":"Boston Dynamics, Atlas \u2014 Partners in Parkour, https:\/\/www.youtube.com\/watch?v=tF4DML7FIWk."},{"key":"10.1016\/j.robot.2026.105434_b18","series-title":"2019 International Conference on Robotics and Automation","first-page":"7448","article-title":"Optimized jumping on the mit cheetah 3 robot","author":"Nguyen","year":"2019"},{"key":"10.1016\/j.robot.2026.105434_b19","series-title":"2019 International Conference on Robotics and Automation","first-page":"7515","article-title":"Ascento: A two-wheeled jumping robot","author":"Klemm","year":"2019"},{"key":"10.1016\/j.robot.2026.105434_b20","doi-asserted-by":"crossref","DOI":"10.1016\/j.mechmachtheory.2022.104917","article-title":"Mechanism design and workspace analysis of a hexapod robot","volume":"174","author":"Li","year":"2022","journal-title":"Mech. Mach. Theory"},{"key":"10.1016\/j.robot.2026.105434_b21","doi-asserted-by":"crossref","first-page":"367","DOI":"10.1016\/j.isatra.2020.08.033","article-title":"Control strategy of stable walking for a hexapod wheel-legged robot","volume":"108","author":"Chen","year":"2021","journal-title":"ISA Trans."},{"key":"10.1016\/j.robot.2026.105434_b22","doi-asserted-by":"crossref","DOI":"10.1016\/j.mechmachtheory.2022.105199","article-title":"Whole-body stability control with high contact redundancy for wheel-legged hexapod robot driving over rough terrain","volume":"181","author":"Xu","year":"2023","journal-title":"Mech. Mach. Theory"},{"key":"10.1016\/j.robot.2026.105434_b23","series-title":"Proceedings 2007 IEEE International Conference on Robotics and Automation","first-page":"2546","article-title":"Mowgli: A bipedal jumping and landing robot with an artificial musculoskeletal system","author":"Niiyama","year":"2007"},{"key":"10.1016\/j.robot.2026.105434_b24","series-title":"2012 IEEE International Conference on Robotics and Automation","first-page":"1436","article-title":"Hopping at the resonance frequency: A trajectory generation technique for bipedal robots with elastic joints","author":"Ugurlu","year":"2012"},{"key":"10.1016\/j.robot.2026.105434_b25","unstructured":"Boston Dynamics, More Parkour Atlas, https:\/\/www.youtube.com\/watch?v=_sBBaNYex3E&list=PLlL_rsmcRMZcvyx1DeQbk3vUoa8LleoqA&index=13."},{"issue":"5","key":"10.1016\/j.robot.2026.105434_b26","doi-asserted-by":"crossref","first-page":"4957","DOI":"10.1109\/TIE.2021.3078396","article-title":"Online jumping motion generation via model predictive control","volume":"69","author":"Ahn","year":"2021","journal-title":"IEEE Trans. Ind. Electron."},{"key":"10.1016\/j.robot.2026.105434_b27","series-title":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots","first-page":"1","article-title":"Design and development of the mit humanoid: A dynamic and robust research platform","author":"SaLoutos","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b28","series-title":"2023 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"8502","article-title":"Design of a jumping control framework with heuristic landing for bipedal robots","author":"Zhang","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b29","article-title":"Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control","author":"Li","year":"2024","journal-title":"Int. J. Robot. Res."},{"key":"10.1016\/j.robot.2026.105434_b30","unstructured":"J. Li, O. Kolt, Q. Nguyen, Continuous Dynamic Bipedal Jumping via Real-time Variable-model Optimization."},{"key":"10.1016\/j.robot.2026.105434_b31","article-title":"Continuous bipedal jumping via sliding-mode regularized predictive control","author":"Fu","year":"2024","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"10.1016\/j.robot.2026.105434_b32","doi-asserted-by":"crossref","DOI":"10.1109\/LRA.2024.3408487","article-title":"Cdm-mpc: An integrated dynamic planning and control framework for bipedal robots jumping","author":"He","year":"2024","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b33","unstructured":"Unitree Robotics, World\u2019s First Side-Flipping Humanoid Robot: Unitree G1, https:\/\/www.youtube.com\/watch?v=29xLWhqME2Q."},{"issue":"8","key":"10.1016\/j.robot.2026.105434_b34","doi-asserted-by":"crossref","first-page":"1459","DOI":"10.1007\/s12541-020-00360-6","article-title":"Optimal standing jump trajectory generation for biped robots","volume":"21","author":"Ahn","year":"2020","journal-title":"Int. J. Precis. Eng. Manuf."},{"key":"10.1016\/j.robot.2026.105434_b35","series-title":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"3821","article-title":"Bipedal hopping: Reduced-order model embedding via optimization-based control","author":"Xiong","year":"2018"},{"key":"10.1016\/j.robot.2026.105434_b36","series-title":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"5151","article-title":"Impact invariant control with applications to bipedal locomotion","author":"Yang","year":"2021"},{"key":"10.1016\/j.robot.2026.105434_b37","series-title":"2022 International Conference on Robotics and Automation","first-page":"8547","article-title":"Design and control of a miniature bipedal robot with proprioceptive actuation for dynamic behaviors","author":"Liu","year":"2022"},{"key":"10.1016\/j.robot.2026.105434_b38","series-title":"2012 IEEE International Conference on Robotics and Automation","first-page":"1889","article-title":"Dynamic torque control of a hydraulic quadruped robot","author":"Boaventura","year":"2012"},{"key":"10.1016\/j.robot.2026.105434_b39","series-title":"2013 IEEE International Conference on Robotics and Automation","first-page":"3313","article-title":"Actively-compliant locomotion control on rough terrain: Cyclic jumping and trotting experiments on a stiff-by-nature quadruped","author":"Ugurlu","year":"2013"},{"key":"10.1016\/j.robot.2026.105434_b40","series-title":"Online planning for autonomous running jumps over obstacles in high-speed quadrupeds","author":"Park","year":"2015"},{"issue":"2","key":"10.1016\/j.robot.2026.105434_b41","doi-asserted-by":"crossref","first-page":"900","DOI":"10.1109\/LRA.2016.2528294","article-title":"Design principles for a family of direct-drive legged robots","volume":"1","author":"Kenneally","year":"2016","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b42","series-title":"2019 International Conference on Robotics and Automation","first-page":"6295","article-title":"Mini cheetah: A platform for pushing the limits of dynamic quadruped control","author":"Katz","year":"2019"},{"key":"10.1016\/j.robot.2026.105434_b43","series-title":"Agile maneuvers in legged robots: a predictive control approach","author":"Mastalli","year":"2022"},{"issue":"88","key":"10.1016\/j.robot.2026.105434_b44","doi-asserted-by":"crossref","first-page":"eadi7566","DOI":"10.1126\/scirobotics.adi7566","article-title":"Anymal parkour: Learning agile navigation for quadrupedal robots","volume":"9","author":"Hoeller","year":"2024","journal-title":"Sci. Robot."},{"key":"10.1016\/j.robot.2026.105434_b45","doi-asserted-by":"crossref","DOI":"10.1109\/LRA.2024.3459797","article-title":"Pie: Parkour with implicit-explicit learning framework for legged robots","author":"Luo","year":"2024","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b46","unstructured":"Unitree Robotics, The Preview of Unitree A1, https:\/\/www.youtube.com\/watch?v=emF9BW0DHoc."},{"key":"10.1016\/j.robot.2026.105434_b47","unstructured":"Unitree Robotics, Introducing Unitree Go2, https:\/\/www.youtube.com\/watch?v=6zPvT0ig1VM."},{"key":"10.1016\/j.robot.2026.105434_b48","unstructured":"Unitree Robotics, Unitree Released B2 \u2014 Beyond the Limit \u2014 Hyperevolution, https:\/\/www.youtube.com\/watch?v=-0n_MFLKD3M."},{"key":"10.1016\/j.robot.2026.105434_b49","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1007\/BF00299889","article-title":"Stotting in Thomson\u2019s gazelles: an honest signal of condition","volume":"23","author":"Fitzgibbon","year":"1988","journal-title":"Behav. Ecol. Sociobiol."},{"key":"10.1016\/j.robot.2026.105434_b50","unstructured":"Boston Dynamics, Meet Sparkles \u2014 Boston Dynamics, https:\/\/www.youtube.com\/watch?v=MG4PPkCyJig."},{"key":"10.1016\/j.robot.2026.105434_b51","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2020.103703","article-title":"Jumping over obstacles with MIT Cheetah 2","volume":"136","author":"Park","year":"2021","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.robot.2026.105434_b52","series-title":"2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"3890","article-title":"Development of leg-wheel hybrid quadruped \u201cAirHopper\u201d design of powerful light-weight leg with wheel","author":"Tanaka","year":"2008"},{"key":"10.1016\/j.robot.2026.105434_b53","unstructured":"Boston Dynamics, Introducing Handle, https:\/\/www.youtube.com\/watch?v=-7xvqQeoA8c&t=27s."},{"issue":"2","key":"10.1016\/j.robot.2026.105434_b54","doi-asserted-by":"crossref","first-page":"212","DOI":"10.1108\/IR-04-2021-0083","article-title":"Stable jump control for the wheel-legged robot based on TMS-DIP model","volume":"49","author":"Li","year":"2022","journal-title":"Ind. Robot.: Int. J. Robot. Res. Appl."},{"key":"10.1016\/j.robot.2026.105434_b55","unstructured":"Tencent Robotics X., ROB\u00d4 OLLIE - Tencent, https:\/\/www.youtube.com\/watch?v=D8b3bY0g_Mo."},{"key":"10.1016\/j.robot.2026.105434_b56","doi-asserted-by":"crossref","DOI":"10.3389\/fnbot.2022.1066714","article-title":"Design and dynamic analysis of jumping wheel-legged robot in complex terrain environment","volume":"16","author":"Guo","year":"2022","journal-title":"Front. Neurorobotics"},{"key":"10.1016\/j.robot.2026.105434_b57","doi-asserted-by":"crossref","DOI":"10.1016\/j.conengprac.2023.105721","article-title":"Hierarchical jumping optimization for hydraulic biped wheel-legged robots","volume":"141","author":"Yu","year":"2023","journal-title":"Control Eng. Pract."},{"key":"10.1016\/j.robot.2026.105434_b58","article-title":"Non-smooth trajectory optimization for wheeled balancing robots with contact switches and impacts","author":"Klemm","year":"2023","journal-title":"IEEE Trans. Robot."},{"key":"10.1016\/j.robot.2026.105434_b59","article-title":"Compliant motion control of wheel-legged humanoid robot on rough terrains","author":"Zhao","year":"2023","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"10.1016\/j.robot.2026.105434_b60","article-title":"Trajectory planning for jumping and soft landing with a new wheeled bipedal robot","author":"Lu","year":"2024","journal-title":"IEEE Trans. Ind. Informatics"},{"key":"10.1016\/j.robot.2026.105434_b61","unstructured":"Unitree Robotics, Unitree B2-W Talent Awakening!, https:\/\/www.youtube.com\/watch?v=X2UxtKLZnNo."},{"key":"10.1016\/j.robot.2026.105434_b62","unstructured":"DEEP Robotics, Extreme Off-Road \u2014 DEEPRobotics Lynx All-Terrian Robot, https:\/\/www.youtube.com\/watch?v=iL833P0Vino."},{"key":"10.1016\/j.robot.2026.105434_b63","series-title":"Quadruped-frog: Rapid online optimization of continuous quadruped jumping","author":"Bellegarda","year":"2024"},{"key":"10.1016\/j.robot.2026.105434_b64","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2024.104799","article-title":"Robust quadruped jumping via deep reinforcement learning","volume":"182","author":"Bellegarda","year":"2024","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.robot.2026.105434_b65","series-title":"2022 IEEE 61st Conference on Decision and Control","first-page":"93","article-title":"Continuous jumping for legged robots on stepping stones via trajectory optimization and model predictive control","author":"Nguyen","year":"2022"},{"issue":"3","key":"10.1016\/j.robot.2026.105434_b66","doi-asserted-by":"crossref","first-page":"4172","DOI":"10.1109\/LRA.2020.2990720","article-title":"Trajectory optimization for wheeled-legged quadrupedal robots driving in challenging terrain","volume":"5","author":"Medeiros","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b67","series-title":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"8835","article-title":"Balancing control and pose optimization for wheel-legged robots navigating high obstacles","author":"Li","year":"2022"},{"key":"10.1016\/j.robot.2026.105434_b68","series-title":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"12835","article-title":"An adaptive approach to whole-body balance control of wheel-bipedal robot ollie","author":"Zhang","year":"2022"},{"issue":"1","key":"10.1016\/j.robot.2026.105434_b69","doi-asserted-by":"crossref","first-page":"119","DOI":"10.1109\/LRA.2019.2947001","article-title":"Full-body optimal control toward versatile and agile behaviors in a humanoid robot","volume":"5","author":"Ishihara","year":"2019","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b70","unstructured":"DDT, Direct Drive Tech, https:\/\/directdrive.com\/product_diablo."},{"issue":"2","key":"10.1016\/j.robot.2026.105434_b71","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1177\/027836498400300207","article-title":"Experiments in balance with a 3D one-legged hopping machine","volume":"3","author":"Raibert","year":"1984","journal-title":"Int. J. Robot. Res."},{"key":"10.1016\/j.robot.2026.105434_b72","series-title":"Legged Robots That Balance","author":"Raibert","year":"1986"},{"key":"10.1016\/j.robot.2026.105434_b73","series-title":"2022 7th Asia-Pacific Conference on Intelligent Robot Systems","first-page":"1","article-title":"Run-and-jump planning and control of a compact two-wheeled legged robot","author":"Hao","year":"2022"},{"key":"10.1016\/j.robot.2026.105434_b74","series-title":"2020 IEEE-RAS 20th International Conference on Humanoid Robots","first-page":"1","article-title":"The MIT humanoid robot: Design, motion planning, and control for acrobatic behaviors","author":"Chignoli","year":"2021"},{"key":"10.1016\/j.robot.2026.105434_b75","series-title":"2022 International Conference on Robotics and Automation","first-page":"6621","article-title":"Rapid and reliable quadruped motion planning with omnidirectional jumping","author":"Chignoli","year":"2022"},{"key":"10.1016\/j.robot.2026.105434_b76","series-title":"2020 17th International Conference on Ubiquitous Robots","first-page":"205","article-title":"Optimized jumping of an articulated robotic leg","author":"Shen","year":"2020"},{"key":"10.1016\/j.robot.2026.105434_b77","series-title":"2021 IEEE 17th International Conference on Automation Science and Engineering","first-page":"2132","article-title":"Autonomous navigation for quadrupedal robots with optimized jumping through constrained obstacles","author":"Gilroy","year":"2021"},{"key":"10.1016\/j.robot.2026.105434_b78","series-title":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"11994","article-title":"Contact-timing and trajectory optimization for 3d jumping on quadruped robots","author":"Nguyen","year":"2022"},{"key":"10.1016\/j.robot.2026.105434_b79","doi-asserted-by":"crossref","DOI":"10.1109\/LRA.2024.3397528","article-title":"3D hopping in discontinuous terrain using impulse planning with mixed-integer strategies","author":"Fey","year":"2024","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b80","series-title":"2023 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"767","article-title":"Evolutionary-based online motion planning framework for quadruped robot jumping","author":"Yue","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b81","doi-asserted-by":"crossref","unstructured":"Y. Ding, C. Li, H.-W. Park, Single leg dynamic motion planning with mixed-integer convex optimization. In 2018 IEEE, in: RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 1\u20136.","DOI":"10.1109\/IROS.2018.8594161"},{"key":"10.1016\/j.robot.2026.105434_b82","doi-asserted-by":"crossref","DOI":"10.1109\/LRA.2024.3445668","article-title":"Model predictive parkour control of a monoped hopper in dynamically changing environments","author":"Albracht","year":"2024","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"4","key":"10.1016\/j.robot.2026.105434_b83","doi-asserted-by":"crossref","first-page":"3154","DOI":"10.1109\/TRO.2023.3271136","article-title":"Vertical jump of a humanoid robot with cop-guided angular momentum control and impact absorption","volume":"39","author":"Qi","year":"2023","journal-title":"IEEE Trans. Robot."},{"key":"10.1016\/j.robot.2026.105434_b84","series-title":"2024 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"11993","article-title":"A fast online omnidirectional quadrupedal jumping framework via virtual-model control and minimum jerk trajectory generation","author":"Yue","year":"2024"},{"issue":"1","key":"10.1016\/j.robot.2026.105434_b85","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1177\/0278364913506757","article-title":"A direct method for trajectory optimization of rigid bodies through contact","volume":"33","author":"Posa","year":"2014","journal-title":"Int. J. Robot. Res."},{"issue":"3","key":"10.1016\/j.robot.2026.105434_b86","doi-asserted-by":"crossref","first-page":"1502","DOI":"10.1109\/LRA.2017.2665685","article-title":"Trajectory optimization through contacts and automatic gait discovery for quadrupeds","volume":"2","author":"Neunert","year":"2017","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b87","series-title":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"2245","article-title":"Mit cheetah 3: Design and control of a robust, dynamic quadruped robot","author":"Bledt","year":"2018"},{"issue":"3","key":"10.1016\/j.robot.2026.105434_b88","doi-asserted-by":"crossref","first-page":"2553","DOI":"10.1109\/LRA.2019.2908502","article-title":"Passive whole-body control for quadruped robots: Experimental validation over challenging terrain","volume":"4","author":"Fahmi","year":"2019","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"1","key":"10.1016\/j.robot.2026.105434_b89","doi-asserted-by":"crossref","first-page":"565","DOI":"10.1109\/LRA.2021.3128697","article-title":"Adaptive CLF-MPC with application to quadrupedal robots","volume":"7","author":"Minniti","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b90","series-title":"Practical Methods for Optimal Control and Estimation Using Nonlinear Programming","author":"Betts","year":"2010"},{"key":"10.1016\/j.robot.2026.105434_b91","series-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"3998","article-title":"Kinodynamic motion planning for multi-legged robot jumping via mixed-integer convex program","author":"Ding","year":"2020"},{"key":"10.1016\/j.robot.2026.105434_b92","series-title":"Convex Optimization","author":"Boyd","year":"2004"},{"issue":"1","key":"10.1016\/j.robot.2026.105434_b93","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1007\/BF01580665","article-title":"Computability of global solutions to factorable nonconvex programs: Part I\u2014Convex underestimating problems","volume":"10","author":"McCormick","year":"1976","journal-title":"Math. Program."},{"key":"10.1016\/j.robot.2026.105434_b94","series-title":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"11366","article-title":"An optimal motion planning framework for quadruped jumping","author":"Song","year":"2022"},{"issue":"4","key":"10.1016\/j.robot.2026.105434_b95","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/2185520.2185539","article-title":"Discovery of complex behaviors through contact-invariant optimization","volume":"31","author":"Mordatch","year":"2012","journal-title":"ACM Trans. Graph. (ToG)"},{"issue":"4","key":"10.1016\/j.robot.2026.105434_b96","doi-asserted-by":"crossref","first-page":"6357","DOI":"10.1109\/LRA.2020.3010754","article-title":"Contact-implicit trajectory optimization using an analytically solvable contact model for locomotion on variable ground","volume":"5","author":"Chatzinikolaidis","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b97","doi-asserted-by":"crossref","DOI":"10.1109\/TRO.2024.3351554","article-title":"Fast contact-implicit model predictive control","author":"Le Cleac\u2019h","year":"2024","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"10.1016\/j.robot.2026.105434_b98","doi-asserted-by":"crossref","first-page":"9318","DOI":"10.1109\/LRA.2022.3188122","article-title":"Tello leg: The study of design principles and metrics for dynamic humanoid robots","volume":"7","author":"Sim","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b99","series-title":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"1","article-title":"Dynamic locomotion in the mit cheetah 3 through convex model-predictive control","author":"Di Carlo","year":"2018"},{"key":"10.1016\/j.robot.2026.105434_b100","series-title":"2020 IEEE-RAS 20th International Conference on Humanoid Robots","first-page":"262","article-title":"A vertical jump optimization strategy for one-legged robot with variable reduction ratio joint","author":"Qi","year":"2021"},{"key":"10.1016\/j.robot.2026.105434_b101","series-title":"Conference on Robot Learning","first-page":"22","article-title":"Walk these ways: Tuning robot control for generalization with multiplicity of behavior","author":"Margolis","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b102","first-page":"2594","article-title":"Curiosity-driven learning of joint locomotion and manipulation tasks","volume":"vol. 229","author":"Schwarke","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b103","series-title":"Mastering agile jumping skills from simple practices with iterative learning control","author":"Nguyen","year":"2024"},{"key":"10.1016\/j.robot.2026.105434_b104","series-title":"Learning for Dynamics and Control Conference","first-page":"770","article-title":"Continuous versatile jumping using learned action residuals","author":"Yang","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b105","article-title":"Variable-frequency model learning and predictive control for jumping maneuvers on legged robots","author":"Nguyen","year":"2024","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b106","series-title":"Conference on Robot Learning","first-page":"2791","article-title":"Cajun: Continuous adaptive jumping using a learned centroidal controller","author":"Yang","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b107","series-title":"Learning to jump from pixels","author":"Margolis","year":"2021"},{"key":"10.1016\/j.robot.2026.105434_b108","series-title":"Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control","author":"Kim","year":"2019"},{"key":"10.1016\/j.robot.2026.105434_b109","doi-asserted-by":"crossref","first-page":"98566","DOI":"10.1109\/ACCESS.2023.3313637","article-title":"Distance-controllable long jump of quadruped robot based on parameter optimization using deep reinforcement learning","volume":"11","author":"Liu","year":"2023","journal-title":"IEEE Access"},{"key":"10.1016\/j.robot.2026.105434_b110","first-page":"1","article-title":"Towards jumping skill learning by target-guided policy optimization for quadruped robots","author":"Zhang","year":"2024","journal-title":"Mach. Intell. Res."},{"key":"10.1016\/j.robot.2026.105434_b111","doi-asserted-by":"crossref","DOI":"10.1016\/j.ast.2023.108689","article-title":"Reinforcement learning-based stable jump control method for asteroid-exploration quadruped robots","volume":"142","author":"Qi","year":"2023","journal-title":"Aerosp. Sci. Technol."},{"key":"10.1016\/j.robot.2026.105434_b112","series-title":"Robust and versatile bipedal jumping control through reinforcement learning","author":"Li","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b113","article-title":"Curriculum-based reinforcement learning for quadrupedal jumping: A reference-free design","author":"Atanassov","year":"2024","journal-title":"IEEE Robot. Autom. Mag."},{"key":"10.1016\/j.robot.2026.105434_b114","series-title":"2021 IEEE International Conference on Robotics and Automation","first-page":"2019","article-title":"Learning agile locomotion skills with a mentor","author":"Iscen","year":"2021"},{"key":"10.1016\/j.robot.2026.105434_b115","series-title":"2024 IEEE International Conference on Robotics and Automation","first-page":"11443","article-title":"Extreme parkour with legged robots","author":"Cheng","year":"2024"},{"key":"10.1016\/j.robot.2026.105434_b116","series-title":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"25","article-title":"Adversarial motion priors make good substitutes for complex reward functions","author":"Escontrela","year":"2022"},{"key":"10.1016\/j.robot.2026.105434_b117","series-title":"Conference on Robot Learning","first-page":"342","article-title":"Learning agile skills via adversarial imitation of rough partial demonstrations","author":"Li","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b118","series-title":"Generalized animal imitator: Agile locomotion with versatile motion prior","author":"Yang","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b119","series-title":"2023 IEEE International Conference on Robotics and Automation","first-page":"5092","article-title":"Opt-mimic: Imitation of optimized trajectories for dynamic quadruped behaviors","author":"Fuchioka","year":"2023"},{"issue":"4","key":"10.1016\/j.robot.2026.105434_b120","first-page":"1","article-title":"Deepmimic: Example-guided deep reinforcement learning of physics-based character skills","volume":"37","author":"Peng","year":"2018","journal-title":"ACM Trans. Graph."},{"key":"10.1016\/j.robot.2026.105434_b121","series-title":"2024 IEEE International Conference on Robotics and Automation","first-page":"9720","article-title":"Two-stage learning of highly dynamic motions with rigid and articulated soft quadrupeds","author":"Vezzi","year":"2024"},{"key":"10.1016\/j.robot.2026.105434_b122","series-title":"Learning and adapting agile locomotion skills by transferring experience","author":"Smith","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b123","series-title":"2023 IEEE International Conference on Robotics and Automation","first-page":"5078","article-title":"Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning","author":"Nahrendra","year":"2023"},{"key":"10.1016\/j.robot.2026.105434_b124","series-title":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"2497","article-title":"Advanced skills by learning locomotion and local navigation end-to-end","author":"Rudin","year":"2022"},{"key":"10.1016\/j.robot.2026.105434_b125","series-title":"Robot parkour learning","author":"Zhuang","year":"2023"},{"issue":"4","key":"10.1016\/j.robot.2026.105434_b126","doi-asserted-by":"crossref","first-page":"11958","DOI":"10.1109\/LRA.2022.3207567","article-title":"Learning setup policies: Reliable transition between locomotion behaviours","volume":"7","author":"Tidd","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105434_b127","series-title":"2021 IEEE International Conference on Robotics and Automation","first-page":"7309","article-title":"Sim-to-real learning of all common bipedal gaits via periodic reward composition","author":"Siekmann","year":"2021"},{"key":"10.1016\/j.robot.2026.105434_b128","series-title":"2024 21st International Conference on Ubiquitous Robots","first-page":"755","article-title":"Impedance matching: Enabling an RL-based running jump in a quadruped robot","author":"Guan","year":"2024"},{"issue":"49","key":"10.1016\/j.robot.2026.105434_b129","doi-asserted-by":"crossref","first-page":"eabb2174","DOI":"10.1126\/scirobotics.abb2174","article-title":"Multi-expert learning of adaptive legged locomotion","volume":"5","author":"Yang","year":"2020","journal-title":"Sci. Robot."}],"container-title":["Robotics and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026001077?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026001077?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:38:17Z","timestamp":1777718297000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0921889026001077"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7]]},"references-count":129,"alternative-id":["S0921889026001077"],"URL":"https:\/\/doi.org\/10.1016\/j.robot.2026.105434","relation":{},"ISSN":["0921-8890"],"issn-type":[{"value":"0921-8890","type":"print"}],"subject":[],"published":{"date-parts":[[2026,7]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Jumping in legged robots: A review of advances in jumping abilities, methods, challenges, and future directions","name":"articletitle","label":"Article Title"},{"value":"Robotics and Autonomous Systems","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.robot.2026.105434","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"105434"}}