713 citations · 2.3k across the 20 of their papers we have counts for
4 papers · 1 filter
Learning a Structured Neural Network Policy for a Hopping Task
Julian Viereck, Jules Kozolinsky, Alexander Herzog +1
In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact locati…
On Time Optimization of Centroidal Momentum Dynamics
Brahayam Ponton, Alexander Herzog, Andrea Del Prete +2
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. Howev…
Pattern Generation for Walking on Slippery Terrains
Majid Khadiv, S. Ali A. Moosavian, Alexander Herzog +1
In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as…
Walking Control Based on Step Timing Adaptation
Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian +1
Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized ove…