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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…
math.DS2025
Symmetric Lyapunov Subcenter Manifolds for Periodic Regulation of Mechanical Systems
Yannik P. Wotte, Arne Sachtler, Alin Albu-Schäffer +2
Multi-body mechanical systems have rich internal dynamics, whose solutions can be exploited as energy-efficient control targets. Yet, solutions non-trivially depend on system param…