15 citations · 38 across the 18 of their papers we have counts for
19 papers
AGILOped: Agile Open-Source Humanoid Robot for Research
Grzegorz Ficht, Luis Denninger, Sven Behnke
With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performan…
Maximum Impulse Approach to Soccer Kicking for Humanoid Robots
Grzegorz Ficht, Sven Behnke
We introduce an analytic method for generating a parametric and constraint-aware kick for humanoid robots. The kick is split into four phases with trajectories stemming from equati…
RoboCup 2023 Humanoid AdultSize Winner NimbRo: NimbRoNet3 Visual Perception and Responsive Gait with Waveform In-walk Kicks
Dmytro Pavlichenko, Grzegorz Ficht, Angel Villar-Corrales +5
The RoboCup Humanoid League holds annual soccer robot world championships towards the long-term objective of winning against the FIFA world champions by 2050. The participating tea…
Centroidal State Estimation and Control for Hardware-constrained Humanoid Robots
Grzegorz Ficht, Sven Behnke
We introduce novel methods for state estimation, feedforward and feedback control, which specifically target humanoid robots with hardware limitations. Our method combines a five-m…
RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-based In-walk Kicks
Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini +7
Beating the human world champions by 2050 is an ambitious goal of the Humanoid League that provides a strong incentive for RoboCup teams to further improve and develop their system…
Direct Centroidal Control for Balanced Humanoid Locomotion
Grzegorz Ficht, Sven Behnke
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It gener…
Bipedal Humanoid Hardware Design: A Technology Review
Grzegorz Ficht, Sven Behnke
Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview w…
NimbRo-OP2X: Affordable Adult-sized 3D-printed Open-Source Humanoid Robot for Research
Grzegorz Ficht, Hafez Farazi, Diego Rodriguez +4
For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research gr…
Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints
Grzegorz Ficht, Sven Behnke
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a r…
RoboCup 2019 AdultSize Winner NimbRo: Deep Learning Perception, In-Walk Kick, Push Recovery, and Team Play Capabilities
Diego Rodriguez, Hafez Farazi, Grzegorz Ficht +7
Individual and team capabilities are challenged every year by rule changes and the increasing performance of the soccer teams at RoboCup Humanoid League. For RoboCup 2019 in the Ad…
NimbRo Robots Winning RoboCup 2018 Humanoid AdultSize Soccer Competitions
Hafez Farazi, Grzegorz Ficht, Philipp Allgeuer +5
Over the past few years, the Humanoid League rules have changed towards more realistic and challenging game environments, which encourage teams to advance their robot soccer perfor…
NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot
Grzegorz Ficht, Hafez Farazi, André Brandenburger +5
Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to o…
Online Balanced Motion Generation for Humanoid Robots
Grzegorz Ficht, Sven Behnke
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots.…
First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform
Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi +2
The use of standard platforms in the field of humanoid robotics can lower the entry barrier for new research groups, and accelerate research by the facilitation of code sharing. Nu…
NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research
Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi +1
The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research…
RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors
Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht +4
The trend in the RoboCup Humanoid League rules over the past few years has been towards a more realistic and challenging game environment. Elementary skills such as visual percepti…
The igus Humanoid Open Platform: A Child-sized 3D Printed Open-Source Robot for Research
Philipp Allgeuer, Hafez Farazi, Grzegorz Ficht +2
The use of standard robotic platforms can accelerate research and lower the entry barrier for new research groups. There exist many affordable humanoid standard platforms in the lo…
Advanced Soccer Skills and Team Play of RoboCup 2017 TeenSize Winner NimbRo
Diego Rodriguez, Hafez Farazi, Philipp Allgeuer +5
In order to pursue the vision of the RoboCup Humanoid League of beating the soccer world champion by 2050, new rules and competitions are added or modified each year fostering nove…
Grown-up NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer Competitions
Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer +6
The ongoing evolution of the RoboCup Humanoid League led in 2017 to the introduction of one vs. one soccer games for the AdultSize robots, which motived our team NimbRo to enter th…