3 papers
cs.RO2026
Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits
Annika Schmidt, Davide Calzolari, Arne Sachtler +13
Animals' body morphology shapes the gait patterns they can perform, where mechanical resonance reduces the need for active control. By tuning posture and muscle stiffness, they lev…
cs.RO2026
Locomotion of an Elastic Snake Robot via Natural Dynamics
Tristan Ehlert, Arne Sachtler, Annika Schmidt +2
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports thi…
cs.RO2025
Discovering Optimal Natural Gaits of Dissipative Systems via Virtual Energy Injection
Korbinian Griesbauer, Davide Calzolari, Maximilian Raff +2
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to…