Joseph Humphreys

Hi! I’m Joey, a researcher and engineer who loves all things robots and rockets.

For too long, robots have been promised as the answer to global labour shortages and the key to freeing humans from tedious work, yet few deployments have delivered meaningful, real-world impact. With a background in deep learning, bio-inspired control, and legged robotics, I have co-founded Eden Robotics to bridge that gap by deploying robots in industry and generating tangible value today.

In my research, I focus on augmenting control frameworks with bio-inspired heuristics, new data modalities, and novel method integrations to push the boundaries of legged robot performance in both manipulation and locomotion.

News

Dec 04, 2025	Successfully defended my PhD thesis with no corrections!
Jul 31, 2025	My work on leveraging animal gait strategies in deep reinforcement learning control frameworks has seen significant traction in the media!
Jul 11, 2025	My work on instilling animal gait strategies within a deep reinforcement learning based framework for quadruped robot locomotion has been accepted for publication in Nature Machine Intelligence!
May 14, 2024	Presented my work on bio-inspired gait transitions at ICRA 2024 in Yokohama, Japan!
Jul 31, 2023	My work on bio-inspired gait transitions has been published in IEEE Robotics and Automation Letters!

Highlighted Publications

Learning to adapt through bio-inspired gait strategies for versatile quadruped locomotion

Joseph Humphreys and Chengxu Zhou

Nature Machine Intelligence, 2025

DOI Bib Video Code

@article{humphreys2025learning,
  title = {Learning to adapt through bio-inspired gait strategies for versatile quadruped locomotion},
  author = {Humphreys, Joseph and Zhou, Chengxu},
  journal = {Nature Machine Intelligence},
  volume = {7},
  number = {7},
  pages = {1141--1153},
  year = {2025},
  publisher = {Nature Publishing Group UK London},
  doi = {https://doi.org/10.1038/s42256-025-01065-z},
}

Bio-inspired gait transitions for quadruped locomotion

Joseph Humphreys, Jun Li, Yuhui Wan, and 2 more authors

IEEE Robotics and Automation Letters, 2023

DOI Bib Video

@article{humphreys2023bio,
  title = {Bio-inspired gait transitions for quadruped locomotion},
  author = {Humphreys, Joseph and Li, Jun and Wan, Yuhui and Gao, Haibo and Zhou, Chengxu},
  journal = {IEEE Robotics and Automation Letters},
  volume = {8},
  number = {10},
  pages = {6131--6138},
  year = {2023},
  publisher = {IEEE},
  doi = {10.1109/LRA.2023.3300249},
}