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cs.RO2026
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…
cs.RO2023★ 3 cited
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…