Showing cs.ROShow all
2 papers · 1 filter
cs.RO2025
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…
cs.RO2024
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…