9 citations · 17 across the 10 of their papers we have counts for
10 papers
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…
How Leg Stiffness Affects Energy Economy in Hopping
Iskandar Khemakhem, Dominik Tschemernjak, Maximilian Raff +1
In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient…
The impact of AI on engineering design procedures for dynamical systems
Kristin M. de Payrebrune, Kathrin Flaßkamp, Tom Ströhla +19
Artificial intelligence (AI) is driving transformative changes across numerous fields, revolutionizing conventional processes and creating new opportunities for innovation. The dev…
Koopman Based Trajectory Optimization with Mixed Boundaries
Mohamed Abou-Taleb, Maximilian Raff, Kathrin Flaßkamp +1
Trajectory optimization is a widely used tool in the design and control of dynamical systems. Typically, not only nonlinear dynamics, but also couplings of the initial and final co…
Data Publishing in Mechanics and Dynamics: Challenges, Guidelines, and Examples from Engineering Design
Henrik Ebel, Jan van Delden, Timo Lüddecke +15
Data-based methods have gained increasing importance in engineering, especially but not only driven by successes with deep artificial neural networks. Success stories are prevalent…
The Indirect Method for Generating Libraries of Optimal Periodic Trajectories and Its Application to Economical Bipedal Walking
Maximilian Raff, Kathrin Flaßkamp, C. David Remy
Trajectory optimization is an essential tool for generating efficient, dynamically consistent gaits in legged locomotion. This paper explores the indirect method of trajectory opti…
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes
Arne Sachtler, Davide Calzolari, Maximilian Raff +5
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the u…
Continuation of Periodic Orbits in Conservative Hybrid Dynamical Systems and its Application to Mechanical Systems with Impulsive Dynamics
Maximilian Raff, C. David Remy
In autonomous differential equations where a single first integral is present, periodic orbits are well-known to belong to one-parameter families, parameterized by the first integr…
An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits
Nelson Rosa, Bassel Katamish, Maximilian Raff +1
For a class of biped robots with impulsive dynamics and a non-empty set of passive gaits (unactuated, periodic motions of the biped model), we present a method for computing contin…
Connecting Gaits in Energetically Conservative Legged Systems
Maximilian Raff, Nelson Rosa, C. David Remy
In this work, we present a nonlinear dynamics perspective on generating and connecting gaits for energetically conservative models of legged systems. In particular, we show that th…