Topic

Hardware & morphology co-design

Designing the body and the learning algorithm together instead of in sequence.

42papers in 2026-07

3.6%of all cs.RO that month

+0.48ppshare change, last 6 vs prior 12 months

24-month volume

arXiv query: cat:cs.RO AND (abs:"morphology" OR abs:"co-design" OR abs:"soft robot")

Presented at reading clubs

These already have a slide kit, so they are the fastest ones to pick up and present.

2025-12-31

Dream2Flow: Bridging Video Generation and Open-World Manipulation with 3D Object Flow

Karthik Dharmarajan, Wenlong Huang, Jiajun Wu +2 · 30 citations

clubReinforcement learning & control Hardware & morphology co-design

2025-05-26

EgoZero: Robot Learning from Smart Glasses

Vincent Liu, Ademi Adeniji, Haotian Zhan +4 · 41 citations

clubEgocentric & human data Data collection & teleoperation

Recent work

2026-08-27

Task-space model-based control of pneumatic soft actuators

Nithin S. Kumar, Joshua Gaston, D. Caleb Rucker +1

Dexterous manipulation Hardware & morphology co-design

2026-08-27

Rapid On-Robot Learning for Dynamic Manipulation Skills: Robot Juggling

Taeyoon Lee, Chunpeng Wang, Christopher G. Atkeson +2

Dexterous manipulation Simulation, sim-to-real & benchmarks

2026-08-27

Decoupling Planning and Control for Instructable Agents

Zineng Tang, Kelsey R. Allen, Sjoerd van Steenkiste +2

World models Vision-language-action

2026-08-27

Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning

Yanzhe Wang, Hao Wu, Ziyi Zheng +1

RSS 2026Dexterous manipulation Hardware & morphology co-design

2026-08-25

Control-Oriented Learning for Dynamic Tracking and Stability Analysis of Soft Pneumatic Actuators

Nithin S. Kumar, Eric J. Barth

Navigation & mobility Hardware & morphology co-design

2026-08-24

Interpreting Control Latents for System Identification via Conditional Flow Matching

Dingqi Zhang, Ruiqi Zhang, Mark W. Mueller

Hardware & morphology co-design Safety & evaluation

2026-08-24

Shaping the Evolutionary Dynamics of Robot Morphology via Adaptive Control Learning

Junru Song, Yang Yang, Yaqing Xu +5

Navigation & mobility Hardware & morphology co-design

2026-08-24

CSymPlan: Certified Symbolic Planning and Control for High-DOF Manipulators

Aditya Narendra, Ashok Kumar Saini, Mahathi Anand +3

Hardware & morphology co-design Safety & evaluation

2026-08-24

Reproducible Vision-Guided 6-DoF Robotic Manipulator with a Mixed Stepper-Driver Architecture and Browser-Native Control

Lasan Perera, Deneth Priyadarshana, Dulana Pitiwaduge +2

Hardware & morphology co-design Safety & evaluation

2026-08-23

DreamMimic: Learning Visuomotor Whole-Body Loco-Manipulation via World Model

Jie Yin, Xingyu Lai

World models Humanoids & locomotion

2026-08-22

Vision-Guided Morphing Quadcopter for Multi-Geometry Payload Transport through Narrow Passages

Aashish Sahu, Shriram Hari, R. Prasanth Kumar

Dexterous manipulation Tactile & force sensing

2026-08-22

Towards insect-like distributed proprioception in actuators and appendages for flapping-wing insect-scale aerial robots

Alexander Hedrick, Arvind Gupta, Kaushik Jayaram

Hardware & morphology co-design

2026-08-21

Lifelong Robot Recomposition via Persistent Categorical Modeling for Unified Task-Driven Co-Design, Verification, and Planning

Steven Swanbeck, Mitch Pryor

Hardware & morphology co-design Safety & evaluation

2026-08-21

Graph-Operator World Models for Morphology-Parameter Generalization in Continuous Control

Xu Yang, Yiqin Yang, Qianchuan Zhao

World models Hardware & morphology co-design

2026-08-20

Pneumatic Units for Logic-based Sequential Excitation (PULSE) in Wearable Haptic Devices

Jessica Healey, Anoush Sepehri, Michael T. Tolley +1

Tactile & force sensing Hardware & morphology co-design

2026-08-20

Koala Gripper: Co-designing Robotic Grippers and Data-Capture Devices for Scaling Dexterous Manipulation Learning

Amar Hajj-Ahmad, Zubin Kremer Guha, Tim Fofonoff +8

Dexterous manipulation Data collection & teleoperation

2026-08-20

Magnetically Self-Sealed MR Haptic Actuator With PWM-Based Excitation and High-Fidelity Torque Control

Dong Qiang, Tian Yuan, Song Yang +5

Hardware & morphology co-design

2026-08-19

Designing Social Robots for Social-Cognition Training with Autistic Adults

Yuval Zohar, Mordi Benhamou, Guy Laban

Hardware & morphology co-design Human-robot interaction

2026-08-18

A Task-Agnostic Control Strategy for Dynamic Assistance with Pneumatically Actuated Soft Exosuits

Anoush Sepehri, Zachary Huang, Raymond de Callafon +2

Hardware & morphology co-design

2026-08-17

FlexWorm: Primitive-augmented Hybrid Contact-motion Planning for Suction-based Multi-segment Deformable Robots

Zili Tang, Tiecheng Guo, Qinyue Zhang +1

Navigation & mobility Hardware & morphology co-design

2026-08-17

Design Optimization for Large High-Force Soft Robot Manipulators Under Gravitational Loads

Isara Cholaseuk, Penelope Llibre, Alexa Kyriacou +5

Hardware & morphology co-design Human-robot interaction

2026-08-17

H-PAC Hand: Control-Oriented Modeling and Tendon-Elasticity Compensation for an Underactuated Robotic Hand

Teng Yan, Jiongxu Chen, Teng Wang +5

Dexterous manipulation Tactile & force sensing

2026-08-17

ViHaTeleop: A Low-Cost, Lightweight Visual-Haptic Teleoperation System for Dexterous Manipulation Learning

Fucai Zhu, Yanhou Lai, Paul Maestre +1

IROS 2026Dexterous manipulation Tactile & force sensing

2026-08-17

Co-design of Neural and Muscle Network based on Embodied Perceptron Representation

Siyuan Tao, Yoichi Masuda, Hiroyuki Nabae +1

Hardware & morphology co-design

2026-08-17

Readiness Barrier Functions: Forward-Invariant Control Authority for Overactuated Multirotor Allocation

Giuseppe Silano

Reinforcement learning & control Hardware & morphology co-design

2026-08-16

Reliable Piezoresistive Strain Sensing Through Physical Limits and Uncertainty Monitoring

Carmen Ballester, Víctor Muñoz, Dorin Copaci +1

Hardware & morphology co-design Safety & evaluation

2026-08-16

Algorithm-Architecture Co-Design for Efficient VLA Inference via Speculative Inference and Verification

Chunyu Qi, Zhuoran Song, Jian Weng +6

Vision-language-action Hardware & morphology co-design

2026-08-16

Detachable Wire Drive : Reconfigurable Robot Architecture with Shared Actuators

Takahiro Hattori, Kento Kawaharazuka, Kei Okada

Hardware & morphology co-design

2026-08-15

Admissibility-Preserving Control for Strict-Feedback Nonlinear Systems with Asymmetric Actuator Constraints

Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha

Hardware & morphology co-design Safety & evaluation

2026-08-14

Real-time Estimator of Actuator Control and Health (REACH) on an Eel-Inspired Soft Robot

Zhangjingyi Jiang, Myungsun Park, Michael T. Tolley +1

Hardware & morphology co-design

2026-08-14

Modeling and Control of an Eel-Inspired Soft Robot for Design Optimization

Zhangjingyi Jiang, Mark Campbell · 2 citations

Humanoids & locomotion Hardware & morphology co-design

2026-08-14

AgilePE: Autonomous UAV Pursuit-Evasion via Self-Play Reinforcement Learning

Wenhao Tang, Tianyang Chen, Zhejun Cui +9

Simulation, sim-to-real & benchmarks Reinforcement learning & control

2026-08-13

Capstan-driven Continuum Surgical Robot: Design, Modeling, and Perception

Gang Zhang, Yufu Qiu, Junyan Yan +3

Tactile & force sensing Hardware & morphology co-design

2026-08-13

Manufacturing Complex Airtight Soft Pneumatic Actuators for Soft Robotics: Process Evaluation and Optimization

Mohammed Abboodi

Hardware & morphology co-design

2026-08-13

RGB-D Video Generation for Improving Human-to-Robot Object Handover Prediction

Tianyu Sun, Zhoujie Fu, Zihui Gao +2

Simulation, sim-to-real & benchmarks Hardware & morphology co-design

2026-08-11

Seeing above the waves: A modular sensing framework for data acquisition at sea

Jonathan E. Schmidt, Julius Wirbel, P. Nicholas Hansen +4

Navigation & mobility Data collection & teleoperation

2026-08-10

RoSE: A Robotic Soft Esophagus for Endoprosthetic Stent Testing

Dipankar Bhattacharya, Sherine Jesna V. A., Leo K. Cheng +1 · 28 citations

Soft RoboticsHardware & morphology co-design

2026-08-10

Intuitive Directional Sense Presentation to the Torso Using McKibben-Based Surface Haptic Sensation in Immersive Space

Kenta Yokoe, Tadayoshi Aoyama, Yuki Funabora +2 · 2 citations

Humanoids & locomotion Data collection & teleoperation

2026-08-10

Intuitive Hand Positional Guidance Using McKibben-Based Surface Tactile Sensations to Shoulder and Elbow

Kenta Yokoe, Yuki Funabora, Tadayoshi Aoyama · 3 citations

RA-LTactile & force sensing Hardware & morphology co-design

2026-08-08

Ego-OSCAR: Egocentric Open source Stereo CAptuRe System

Gunjan Paul, Senthil Palanisamy, Satpal Singh Rathore +3

Egocentric & human data Data collection & teleoperation

154 papers in this corpus carry the hardware & morphology co-design tag. How tagging works.