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cs.RO2026
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.RO2026
The Indirect Method for Generating Libraries of Optimal Periodic Trajectories and Its Application to Economical Bipedal Walking
Maximilian Raff, Kathrin FlaÃkamp, 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…
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…