713 citations · 2.3k across the 20 of their papers we have counts for
4 papers · 1 filter
Step Timing Adjustment: A Step toward Generating Robust Gaits
Majid Khadiv, Alexander Herzog, S. Ali. A. Moosavian +1
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we pro…
Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment
Majid Khadiv, Sebastien Kleff, Alexander Herzog +3
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the…
A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation
Brahayam Ponton, Alexander Herzog, Stefan Schaal +1
Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, b…
Structured contact force optimization for kino-dynamic motion generation
Alexander Herzog, Stefan Schaal, Ludovic Righetti
Optimal control approaches in combination with trajectory optimization have recently proven to be a promising control strategy for legged robots. Computationally efficient and robu…