9 citations · 15 across the 11 of their papers we have counts for
3 papers · 1 filter
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…