<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="7.x">Drupal-Biblio</source-app><ref-type>47</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Brandon J DeHart</style></author><author><style face="normal" font="default" size="100%">Dana Kulic</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Legged Mechanism Design with Momentum Gains</style></title><secondary-title><style face="normal" font="default" size="100%">IEEE-RAS Int. Conf. on Humanoid Robotics (HUMANOIDS)</style></secondary-title></titles><dates><year><style  face="normal" font="default" size="100%">2017</style></year></dates><urls><web-urls><url><style face="normal" font="default" size="100%">http://ieeexplore.ieee.org/document/8246932/</style></url></web-urls></urls><pages><style face="normal" font="default" size="100%">593-598</style></pages><language><style face="normal" font="default" size="100%">eng</style></language><abstract><style face="normal" font="default" size="100%">&lt;p&gt;
	There are two main goals for any mobile, bipedal&amp;nbsp;system: locomotion and balance. These behaviors&amp;nbsp;both require the biped to effectively move its center of mass (COM). In&amp;nbsp;this work, we define an optimization framework which can be&amp;nbsp;used to design a biped that maximizes its ability to move its&amp;nbsp;COM, without having to define an associated controller or trajectory.&amp;nbsp;We use angular momentum gain in our objective function, as&amp;nbsp;a measure of how efficiently a structure can move its COM based on its physical properties. As&amp;nbsp;a comparison, we also optimize the model using a cost of&amp;nbsp;transport-based objective function over a set of trajectories&amp;nbsp;and show that it provides similar results. However, the cost of&amp;nbsp;transport calculation requires slow hybrid dynamics equations&amp;nbsp;and hand-designed trajectories, whereas the angular momentum gain&amp;nbsp;calculation requires only the joint space inertia matrix at each&amp;nbsp;configuration of interest.
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