15 citations · 30 across the 9 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…