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In this paper, we explore the potential of trajectory optimization for unspecified contact sequences as a tool to identify optimal gaits and motions for legged robots. This work is based on a recently proposed method that states the mechanical dynamics in a floating base description, makes the ground contact forces part of the free variable vector, and implements the requirement that a foot is either...
Building on our previous work on passive dynamic walking with quadrupeds, we show that a large variety of gaits can be created completely passively by a quadrupedal model with elastic legs. Similar to the well-known Spring Loaded Inverted Pendulum model for bipeds, we created a conceptual quadrupedal model with elastic massless legs. To obtain a well-defined sequence of ground contact, we defined...
The impact of the 11-year solar cycle on the stratosphere and, in particular, on the polar regions is investigated using simulations from the Chemistry Climate Model (CCM) LMDz-Reprobus. The annual solar signal clearly shows a stratospheric response largely driven by radiative and photochemical processes, especially in the upper stratosphere. A month-by-months analysis suggests that dynamical feedbacks...
This work introduces a framework for the creation and analysis of efficient gaits for legged systems based on the exploitation of natural dynamics. It summarizes the theory behind hybrid dynamic modeling, the identification of optimal periodic motions with single shooting and direct collocation, and the analysis of first order stability. Three examples introduce various aspects of gait creation and...
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