5 papers
Humanoid Robot Running Through Random Stepping Stones and Jumping Over Obstacles: Step Adaptation Using Spring-Mass Trajectories
Sait Sovukluk, Johannes Englsberger, Christian Ott
This study proposes a step adaptation framework for running through spring-mass trajectories and deadbeat control gain libraries. It includes four main parts: (1) Automatic spring-…
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…
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…
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…
Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region
Tobias Egle, Yashuai Yan, Dongheui Lee +1
This paper introduces a new approach to enhance the robustness of humanoid walking under strong perturbations, such as substantial pushes. Effective recovery from external disturba…