Open Access
| Issue |
MATEC Web Conf.
Volume 417, 2025
2025 RAPDASA-RobMech-PRASA-AMI Conference: Bridging the Gap between Industry & Academia - The 26th Annual International RAPDASA Conference, joined by RobMech, PRASA and AMI, co-hosted by CSIR and Tshwane University of Technology, Pretoria
|
|
|---|---|---|
| Article Number | 04014 | |
| Number of page(s) | 14 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202541704014 | |
| Published online | 25 November 2025 | |
- M.T. Carrano, “Morphological indicators of foot posture in mammals: a statistical and biomechanical analysis.” zoological Journal of the Linnean Society 121.1, 77-104. (1997) [Google Scholar]
- C.V. Rajani, et al. “Comparative morphological studies of the pelvic limb bones in ostrich (Struthio camelus), emu (Dromaius novaehollandiae), domestic fowl (Gallus gallus domesticus) and duck (Anas platyrhynchos domesticus).” Indian Journal of Animal Research 53.11, 1445-1449 (2019) [Google Scholar]
- M. Haberland, and S. Kim, “On extracting design principles from biology: II. Case study—the effect of knee direction on bipedal robot running efficiency.” Bioinspiration & biomimetics 10.1, 016011 (2015) [Google Scholar]
- C.B. Cunningham, et al. “The influence of foot posture on the cost of transport in humans.” Journal of Experimental Biology 213.5, 790-797 (2010). [Google Scholar]
- G.A. Cavagna, N.C. Heglund, and C.R. Taylor, “Mechanical work in terrestrial locomotion: two basic mechanisms for minimizing energy expenditure.” American Journal of Physiology-Regulatory, Integrative and Comparative Physiology 233.5 R243-R261 (1977) [Google Scholar]
- M. Kelly, “An introduction to trajectory optimization: How to do your own direct collocation.” SIAM review 59.4, 849-904. (2017) [Google Scholar]
- R.J. Full and D.E. Koditschek, “Templates and anchors: neuromechanical hypotheses of legged locomotion on land.” Journal of experimental biology 202.23, 3325-3332. (1999) [Google Scholar]
- W. Xi, Y. Yesilevskiy, and C.D. Remy. “Selecting gaits for economical locomotion of legged robots.” The International Journal of Robotics Research 35.9, 1140-1154 (2016) [Google Scholar]
- C.L. Dembia, et al. “OpenSim Moco: musculoskeletal optimal control.” PLOS Computational Biology 16.12, e1008493 (2020) [Google Scholar]
- K. Mombaur, and D. Clever. “Inverse optimal control as a tool to understand human movement.” Geometric and numerical foundations of movements 163-186 (2017) [Google Scholar]
- S. Shield, et al. “Tails, flails, and sails: how appendages improve terrestrial maneuverability by improving stability.” Integrative and comparative biology 61.2, 506-520 (2021) [Google Scholar]
- L. Raw, C. Fisher, and A. Patel. “Effects of limb morphology on transient locomotion in quadruped robots.” 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE (2019) [Google Scholar]
- C. Fisher, S. Shield, and A. Patel. “The effect of spine morphology on rapid acceleration in quadruped robots.” 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE (2017) [Google Scholar]
- P. Chandana, and J.C. Bongard. “The road less travelled: Morphology in the optimization of biped robot locomotion.” Proceedings 2001 IEEE/RSJ international conference on intelligent robots and systems. Expanding the societal role of robotics in the the next millennium (cat. no. 01CH37180). Vol. 1. IEEE (2001) [Google Scholar]
- H. William, et al. Pyomo-optimization modeling in python. Vol. 67. Berlin: Springer, 2017. [Google Scholar]
- L.T. Biegler, and V.M. Zavala. “Large-scale nonlinear programming using IPOPT: An integrating framework for enterprise-wide dynamic optimization.” Computers & Chemical Engineering 33.3, 575-582 (2009) [Google Scholar]
- A. Knemeyer, S. Shield, and A. Patel. “Minor change, major gains: The effect of orientation formulation on solving time for multi-body trajectory optimization.” IEEE Robotics and Automation Letters 5.4, 5331-5338 (2020). [Google Scholar]
- P. De Leva. “Adjustments to Zatsiorsky-Seluyanov’s segment inertia parameters.” Journal of biomechanics 29.9, 1223-1230 (1996) [Google Scholar]
- A.N. Lay, C. J. Hass, and R.J. Gregor. “The effects of sloped surfaces on locomotion: a kinematic and kinetic analysis.” Journal of biomechanics 39.9, 1621-1628 (2006) [Google Scholar]
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.

