2023
An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits
IROS 2023poster
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 continuous families of locally optimal gaits with respect to a class of commonly used energetic cost functions (e.g., the inte…