@conference {6191,
	title = {Legged Mechanism Design with Momentum Gains},
	booktitle = {IEEE-RAS Int. Conf. on Humanoid Robotics (HUMANOIDS)},
	year = {2017},
	pages = {593-598},
	abstract = {<p>
	There are two main goals for any mobile, bipedal\&nbsp;system: locomotion and balance. These behaviors\&nbsp;both require the biped to effectively move its center of mass (COM). In\&nbsp;this work, we define an optimization framework which can be\&nbsp;used to design a biped that maximizes its ability to move its\&nbsp;COM, without having to define an associated controller or trajectory.\&nbsp;We use angular momentum gain in our objective function, as\&nbsp;a measure of how efficiently a structure can move its COM based on its physical properties. As\&nbsp;a comparison, we also optimize the model using a cost of\&nbsp;transport-based objective function over a set of trajectories\&nbsp;and show that it provides similar results. However, the cost of\&nbsp;transport calculation requires slow hybrid dynamics equations\&nbsp;and hand-designed trajectories, whereas the angular momentum gain\&nbsp;calculation requires only the joint space inertia matrix at each\&nbsp;configuration of interest.
</p>
},
	url = {http://ieeexplore.ieee.org/document/8246932/},
	author = {Brandon J DeHart and Dana Kulic}
}
