2 papers
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…
eess.SY2024
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…