cad-agent.References · Motion and dynamics in the catalogue · Markdown · JSON
References · Simulation and validation
Motion and dynamics
29 records: 0 read sources that cad-agent's rules and checks may cite, and 29 records catalogued from the Reference Map, not yet read. Rigid-body simulation of robots and mechanisms.
Catalogued records are search snippets: their numbers are the authors' claims and their licences are as the map states them, unread. Cite one only after reading the source and promoting it (how).
Records
29 records
| Record | Kind | Evidence | Confidence | Licence | Process | Role |
|---|---|---|---|---|---|---|
| 2025-cycloidal-drive-antibacklashgeez0x1 CAD files and testing/analysis code for our 2025 paper "Anti-Backlash Mechanisms for Cycloidal Drive Robotic Actuators: Design and Evaluation", by Cycloidal gearbox paper repo, not a wheel-leg model; README gives no numbers itself. | Open project | snippet only | low 0.4 | CC-BY-SA-4.0not read | 3D printingSheet metal and laser | Context |
| asRoBallet_mujocoasRoBallet Open-source ballbot RL library with MuJoCo Ballbot; real-hardware claim is in a linked paper, README gives no measurements. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printing | Lessons |
| balance-robot-mujoco-simlachlanhurst Minimal MuJoCo LQR balancer. Two-wheel only, no legs; no hardware validation stated. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Lessons |
| berkeley_humanoid_descriptionHybridRobotics Description files for the Berkeley Humanoid ROS1 launch only, a humanoid without wheels, no licence file match and no arm. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| circleg-robot-open2757657887 MuJoCo wheel-ring-leg balancing robot sim and control Non-commercial PolyForm licence; no real robot, and the ring-leg differs from five-bar. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Reference |
| ddtrobot_labcmjang Direct Drive Technology Robotics RL project Commercial robot only; README has no results, model details or numbers. | Open project | snippet only | low 0.4 | openApache-2.0not read | none stated | Lessons |
| DuctedFanUAV-Autopilotmengchaoheng README is generic PX4 text with no ducted-fan content. README is the generic PX4 text and does not mention ducted fans. | Open project | snippet only | low 0.4 | openBSD-3-Clausenot read | none stated | Context |
| Graduate_ProjectLiuDingchuan Webots wheeled bipedal robot, model-based LQR Simulation only, Webots 2020a required, no licence and no real-robot test. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Reference |
| Isaac-RL-Two-wheel-Legged-Botjaykorea Popular Isaac Lab recipe. Sim-to-real shown only as media; no quantitative results in README. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | none stated | Reference |
| LocoWheeledLeggedzhaozijie2022 RL wheeled-legged locomotion sim-to-real in Isaac Unitree Go2W quadruped, not balancing wheel-leg; no licence; demos only, no numbers. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | licence unclearnot read | 3D printing | Reference |
| mpc_balancerstephane-caron MPC to balance Upkie wheeled bipeds Pinned to Upkie 8.0.0 software; README shows no results or numbers. | Open project | snippet only | low 0.4 | openApache-2.0not read | none stated | Lessons |
| OpenBallBot-RLsalehiac MuJoCo ballbot simulator and RL Ballbot, not wheel-leg; requires building patched MuJoCo from source; RL demos are simulation only. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openApache-2.0not read | none stated | Lessons |
| Pow_WBR_ProjectSeungbinOh C++ code for university capstone wheeled bipedal robot README is mostly AliExpress links; no performance data or photos in the README text. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| rhea_descriptionG-Levine URDF model for the Rhea wheeled biped README is three lines: no masses, inertias or joint limits stated, and no validation. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Reference |
| RMInfantry_wheelLegged_wschen-jiangnan ROS2 wheel-legged control and simulation, two platforms No performance numbers or photos in the README; licence missing; Chinese text; RoboMaster-class robots. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Reference |
| robot-actuatorspunkfab Simulate-first robot actuator R&D: parametric miniature cycloidal drive (build123d) wired end-to-end into a MuJoCo testbench. v1 = 10:1 for a Author says most designs are unbuilt; models are simulation-first and mostly unvalidated on hardware. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printingPCB and electronicsMotor winding | Reference |
| solo12_mujocorkourdis Actuator-faithful Solo12 model. Quadruped; no validation against hardware stated. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Reference |
| tron1-mujoco-simlimxdynamics MuJoCo sim for TRON1 point-foot, sole-foot, wheel-foot Needs Python 3.8 limxsdk wheels; wheel-foot sim needs a real-time machine; bipedal, not five-bar. | Open project | snippet only | low 0.4 | openApache-2.0not read | none stated | Reference |
| upkie_descriptionupkie URDF and Xacro descriptions for Upkie wheeled bipeds Model is a wheeled biped with mjbots actuators, not five-bar legs; README states no numbers. | Open project | snippet only | low 0.4 | openApache-2.0not read | 3D printing | Reference |
| Wheel-legged MATLAB collectionziyuliu66 Five-, two- and four-link models side by side. Author says two of the three projects contain clutter and are unmaintained. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| wheel-legged-controljacklindun ROS and MuJoCo wheel-legged simulation MuJoCo paths are hard-coded; several launch nodes are not built; no results. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Lessons |
| Wheel-Legged-Labzyicome Isaac Lab wheel-legged environment. Author states no real-robot deployment or sim-to-real validation yet. | Open project | snippet only | low 0.4 | openApache-2.0not read | 3D printing | Reference |
| wheel_leggedJianBoLiao Webots wheel-foot simulation Ignores constraints (no OSQP), Webots only, and the README is a MPC tutorial. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
| wheel_legged_genesisAlbusgive Wheel-legged RL in Genesis. No real-robot validation stated; Genesis install needs main branch. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Reference |
| wheeled-bipedal-jumpingsilvery107 Height control and torque planning for wheeled-bipedal jumping Old (2021) Webots model, simulation video only; AGPL licence. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | AGPL-3.0not read | none stated | Lessons |
| wheeled-legged_RLscutrobotlab Wheel-leg infantry RL training Sim2Real deployment is still an unchecked roadmap item; tested on one RTX 5070 Ti. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Reference |
| wheeled_bipedal_labL-SY Isaac Lab training for wheeled bipedal robot README contradicts the note: it is a generic template with no wheeled-biped content. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Context |
| WheelLeg_RL_IsaacLab2757657887 Five-bar wheel-foot RL in Isaac Lab Only a smoke test (1 env, 1 iteration) is reported; actuator warning shows 6 of 10 joints driven. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Reference |
| WheelLeggedRobotSimulationRengar-Yang Simulation model files. Author calls structure rough and code may have problems; no hardware. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Lessons |
Role is the survey's judgement of a record within its class (leader, reference, lessons, context): not a quality grade. A single source, a search snippet, or untested judgement is what “low” means.