9 citations · 17 across the 10 of their papers we have counts for
5 papers · 1 filter
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 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…
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…