Publications
Highly dynamic robotic leg for non-biomimetic walking robots
Published in Actuator Conference, 2022
Due to a predisposition of DNA to generate symmetric anatomy, there are no tripedal animals in nature. Yet, threelegged walking might be the sweet spot between the energy efficiency of bipeds and the stability of quadrupeds. This paper presents the non-biomimetic leg for the TriPed, a novel three-legged mobile walking robot that aims to study the advantages and disadvantages of three-legged walking.
Recommended citation: Jan Baumgärtner, Johannes Bach, Lorenzo Masia, Essam Badreddin and Peter Pott (2022). Highly dynamic robotic leg for non-biomimetic walking robots. ACTUATOR22, Mannheim, pp.85-88
TriP: A Python package for the kinematic modeling of seriell-parallel hybrid robots
Published in Journal of Open Source Software, 2021
TriP is a lightweight and easy-to-use package directly modeling hybrid serial-parallel mechanisms and calculating their kinematics.
Recommended citation: Baumgärtner et al., (2022). TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots. Journal of Open Source Software, 7(71), 3967, https://doi.org/10.21105/joss.03967