We have another recently published paper in IEEE Transactions on Robotics!

Simple models, like inverted pendulums and single rigid-body models, are ubiquitous in legged locomotion. They achieve good performance with only a low-dimensional representation, but can an algorithm do better? We explore the use of numerical optimization to synthesize new simple models, achieving higher performance across a wider range of bipedal walking tasks.

This work led by recent grad Yu-Ming Chen, and supported by the Toyota Research Institute.

Check out the project website, paper, and freely available arXiv version