9 citations · 15 across the 11 of their papers we have counts for
12 papers
Design and Analysis of a Nonlinear Parallel Mechanism Coupling for Dynamic Humanoid Legs
Rohit Kumar, Heiner Peters, Felix Wiebe +5
Humanoids increasingly demand lightweight leg mechanisms for agile, dynamic, and energy-efficient locomotion. Reducing distal inertia through proximal actuation has thus become a c…
Residual-Based Adaptive Kalman Filtering for Legged Robot State Estimation
Mihaela Popescu, Dennis Mronga, Shivesh Kumar +1
State estimation is a key component in model-based control of walking robots and, more broadly, applicable wherever hidden variables must be inferred. The Kalman filter is widely u…
Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
Franek Stark, Felix Wiebe, Shubham Vyas +2
This paper presents a multi-phase whole-body model predictive control (MPC) approach for bipedal walking, combining a detailed whole-body model in the near horizon with a simplifie…
InEKFormer: A Hybrid State Estimator for Humanoid Robots
Lasse Hohmeyer, Mihaela Popescu, Ivan Bergonzani +2
Humanoid robots have great potential for a wide range of applications, including industrial and domestic use, healthcare, and search and rescue missions. However, bipedal locomotio…
Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano
Shubham Vyas, Franek Stark, Rohit Kumar +6
Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robo…
An adaptive hierarchical control framework for quadrupedal robots in planetary exploration
Franek Stark, Rohit Kumar, Shubham Vyas +6
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited t…
Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization
Rohit Kumar, Melya Boukheddimi, Dennis Mronga +2
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently,…
Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition
Felix Wiebe, Niccolò Turcato, Alberto Dalla Libera +17
In the field of robotics many different approaches ranging from classical planning over optimal control to reinforcement learning (RL) are developed and borrowed from other fields…
Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking
Franek Stark, Jakob Middelberg, Dennis Mronga +2
Quadratic Programs (QPs) are widely used in the control of walking robots, especially in Model Predictive Control (MPC) and Whole-Body Control (WBC). In both cases, the controller…
MARLIN: A Cloud Integrated Robotic Solution to Support Intralogistics in Retail
Dennis Mronga, Andreas Bresser, Fabian Maas +6
In this paper, we present the service robot MARLIN and its integration with the K4R platform, a cloud system for complex AI applications in retail. At its core, this platform conta…
Online-Adaptive Anomaly Detection for Defect Identification in Aircraft Assembly
Siddhant Shete, Dennis Mronga, Ankita Jadhav +1
Anomaly detection deals with detecting deviations from established patterns within data. It has various applications like autonomous driving, predictive maintenance, and medical di…
Learning Context-Adaptive Task Constraints for Robotic Manipulation
Dennis Mronga, Frank Kirchner
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification o…