6 papers
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…
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…
Continuation of Periodic Orbits in Conservative Hybrid Dynamical Systems and its Application to Mechanical Systems with Impulsive Dynamics
Maximilian Raff, C. David Remy
In autonomous differential equations where a single first integral is present, periodic orbits are well-known to belong to one-parameter families, parameterized by the first integr…
Data Publishing in Mechanics and Dynamics: Challenges, Guidelines, and Examples from Engineering Design
Henrik Ebel, Jan van Delden, Timo Lüddecke +15
Data-based methods have gained increasing importance in engineering, especially but not only driven by successes with deep artificial neural networks. Success stories are prevalent…
The impact of AI on engineering design procedures for dynamical systems
Kristin M. de Payrebrune, Kathrin FlaÃkamp, Tom Ströhla +19
Artificial intelligence (AI) is driving transformative changes across numerous fields, revolutionizing conventional processes and creating new opportunities for innovation. The dev…
Koopman Based Trajectory Optimization with Mixed Boundaries
Mohamed Abou-Taleb, Maximilian Raff, Kathrin FlaÃkamp +1
Trajectory optimization is a widely used tool in the design and control of dynamical systems. Typically, not only nonlinear dynamics, but also couplings of the initial and final co…