Pollayil, Mathew Jose (author), Della Santina, C. (author), Mesesan, George (author), Englsberger, Johannes (author), Seidel, Daniel (author), Garabini, Manolo (author), Ott, Christian (author), Bicchi, Antonio (author), Albu-Schaffer, Alin (author) Embedding elastic elements into legged robots through mechanical design enables highly efficient oscillating patterns that resemble natural gaits. However, current trajectory planning techniques miss the opportunity of taking advantage of these natural motions. This work proposes a locomotion planning method that aims to unify traditional...
conference paper 2022
