Juan D. Gamba

2 accepted papers

2023

A Springy Leg and a Double Backflip

RA-L 2023

This letter presents a simulation study of a planar monopod robot's motion search and control problems. The robot's passively spring-loaded prismatic joint in the lower body (between the foot and the shin) assists it in performing athletic motions. Systems of this kind can balance on a single point,

Cited by 1 Source ↗Scholar ↗

2021

Balancing on a Springy Leg

Juan D. Gamba, Roy Featherstone

ICRA 2021poster

This paper presents a simulation study of the problem of balancing a planar double pendulum in which the lower body (the leg) has been modified to include a spring-loaded passive prismatic joint. Robots of this kind can travel by hopping, and can also stand and balance on a single point. The purpose…

Cited by 6 Source ↗Scholar ↗