7 citations · 13 across the 9 of their papers we have counts for
4 papers · 1 filter
A Learnable Safety Measure
Steve Heim, Alexander von Rohr, Sebastian Trimpe +1
Failures are challenging for learning to control physical systems since they risk damage, time-consuming resets, and often provide little gradient information. Adding safety constr…
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
Felix Grimminger, Avadesh Meduri, Majid Khadiv +10
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor…
Trunk Pitch Oscillations for Joint Load Redistribution in Humans and Humanoid Robots
Özge Drama, Alexander Badri-Spröwitz
Creating natural-looking running gaits for humanoid robots is a complex task due to the underactuated degree of freedom in the trunk, which makes the motion planning and control di…
Trunk Pitch Oscillations for Energy Trade-offs in Bipedal Running Birds and Robots
Özge Drama, Alexander Badri-Spröwitz
Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they ex…