3 papers
cs.RO2025
Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces
Sait Sovukluk, Grazia Zambella, Tobias Egle +1
This paper studies the experimental comparison of two different whole-body control formulations for humanoid robots: inverse dynamics whole-body control (ID-WBC) and passivity-base…
cs.RO2025
Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics
Sait Sovukluk, Robert Schuller, Johannes Englsberger +1
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available f…
cs.RO2025
An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems
Sait Sovukluk, Christian Ott
This paper presents a numerical function optimization framework designed for constrained optimization problems in robotics. The tool is designed with real-time considerations and i…