1 citations · 1 across the 8 of their papers we have counts for
9 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…
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…
Mixed-Integer vs. Continuous Model Predictive Control for Binary Thrusters: A Comparative Study
Franek Stark, Jakob Middelberg, Shubham Vyas
Binary on/off thrusters are commonly used for spacecraft attitude and position control during proximity operations. However, their discrete nature poses challenges for conventional…
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…
Adaptive Model-Base Control of Quadrupeds via Online System Identification using Kalman Filter
Jonas Haack, Franek Stark, Shubham Vyas +2
Many real-world applications require legged robots to be able to carry variable payloads. Model-based controllers such as model predictive control (MPC) have become the de facto st…
Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum
Blanka Burchard, Franek Stark
The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendu…
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…
Linear Model Predictive Control for a planar free-floating platform: A comparison of binary input constraint formulations
Franek Stark, Shubham Vyas, Georg Schildbach +1
This work develops a first Model Predictive Control for European Space Agencies 3-dof free-floating platform. The challenges of the platform are the on/off thrusters, which cannot…