23 papers
Learning to Autonomously Reach Objects with NICO and Grow-When-Required Networks
Nima Rahrakhshan, Matthias Kerzel, Philipp Allgeuer +2
The act of reaching for an object is a fundamental yet complex skill for a robotic agent, requiring a high degree of visuomotor control and coordination. In consideration of dynami…
Analytic Bipedal Walking with Fused Angles and Corrective Actions in the Tilt Phase Space
Philipp Allgeuer
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required…
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…
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…
Bipedal Walking with Corrective Actions in the Tilt Phase Space
Philipp Allgeuer, Sven Behnke
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the rob…