14 citations · 16 across the 4 of their papers we have counts for
4 papers · 1 filter
Humanoid Robot Running Through Random Stepping Stones and Jumping Over Obstacles: Step Adaptation Using Spring-Mass Trajectories
Sait Sovukluk, Johannes Englsberger, Christian Ott
This study proposes a step adaptation framework for running through spring-mass trajectories and deadbeat control gain libraries. It includes four main parts: (1) Automatic spring-…
Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics
Sait Sovukluk, Robert Schuller, Johannes Englsberger +1
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available f…
Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots
Connor W. Herron, Robert Schuller, Benjamin C. Beiter +3
In this work, the Divergent Component of Motion (DCM) method is expanded to include angular coordinates for the first time. This work introduces the idea of spatial DCM, which adds…
Sensitivity of Legged Balance Control to Uncertainties and Sampling Period
Nahuel Villa, Johannes Englsberger, Pierre-Brice Wieber
We propose to quantify the effect of sensor and actuator uncertainties on the control of the center of mass and center of pressure in legged robots, since this is central for maint…