Generating Families of Optimally Actuated Gaits from a Legged System's Energetically Conservative Dynamics
Maximilian Raff,Nelson Rosa,C. David Remy,Maximilian Raff,Nelson Rosa,C. David Remy
We present a homotopic approach to generating energetically optimal gaits for legged robots that maps passive (i.e., unactuated) gaits of an energetically conservative model of the robot to a model with user-defined target dynamics with dissipation and actuation (i.e., the more “realistic” legged model). Our core contribution is advancing the state-of-the-art towards a turn-key approach where the ...
