9 citations · 12 across the 3 of their papers we have counts for
5 papers
The Effect of Gait Stability Based on Two Types of Impact Strategies for Two-Link Walking and Brachiating Robots
Alan Estrada Flores, Nelson Rosa
In this paper, we explore the impulsive dynamics common to single-joint, two-link models of walking and brachiating gaits with respect to slope and switching time. In particular, w…
Amplify: A Lightweight Library for Reproducible Nonlinear Programming Problems in Robotics
Nelson Rosa
Optimization problems (OPs) are key to solving many challenging research problems in robotics. However, reproducibility still remains a major issue. In this paper, we present Ampli…
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…
A Topological Approach to Gait Generation for Biped Robots
Nelson Rosa, Kevin M. Lynch
This paper describes a topological approach to generating families of open- and closed-loop walking gaits for underactuated 2D and 3D biped walkers subject to configuration inequal…