Search Results - "Mombaur, K."

Synergies between humanoid robotics and biomechanics for motion generation by Mombaur, K.

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Stability Optimization of Hybrid Periodic Systems via a Smooth Criterion by Diehl, M., Mombaur, K., Noll, D.

“…We consider periodic orbits of controlled hybrid dynamic systems and want to find open-loop controls that yield maximally stable limit cycles. Instead of…”
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Optimisation of somersaults and twists in platform diving by Koschorreck, J., Mombaur, K.

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Identifying the objectives of human path generation by Mombaur, K., Truong, A., Laumond, J.-P.

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Balance in dynamic situations: role of the underlying model by Hoyet, L., Multon, F., Mombaur, K., Yoshida, E.

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Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations by Kudruss, M., Naveau, M., Stasse, O., Mansard, N., Kirches, C., Soueres, P., Mombaur, K.

“…Multi-contact motion generation is an important problem in humanoid robotics because it generalizes bipedal locomotion and thus expands the functional range of…”
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Modeling and Optimal Control of Human-Like Running by Schultz, G, Mombaur, K

“…Designing and controlling an anthropomorphic mechatronic system that is able to perform a dynamic running motion is a challenging task. One difficulty is that…”
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Ageing does not affect the dynamic balance margins of gait by Sloot, L., Millard, M., Mombaur, K., Hallemans, A., van Criekinge, T.

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Optimization-based analysis of push recovery during walking motions to support the design of rigid and compliant lower limb exoskeletons by Kopitzsch, R. M., Clever, D., Mombaur, K.

“…Lower limb exoskeletons provide a promising approach to allow disabled people to walk again in the future. Designing such exoskeletons and tuning the required…”
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Walk this way: Elderly walk like the young, just more slowly by Sloot, L., Malheiros, S., Truijen, S., Saeys, W., Mombaur, K., Hallemans, A., van Criekinge, T.

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Self-stabilizing somersaults by Mombaur, K.D., Bock, H.G., Schloder, J.P., Longman, R.W.

“…We investigate the open-loop stability of a planar biped robot performing a periodic motion of forward somersaults with alternating single-leg contacts. The…”
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A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control by Naveau, M., Kudruss, M., Stasse, O., Kirches, C., Mombaur, K., Souères, P.

“…The contribution of this work is to show that real-time nonlinear model predictive control (NMPC) can be implemented on position controlled humanoid robots…”
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Online walking gait generation with adaptive foot positioning through Linear Model Predictive control by Diedam, H., Dimitrov, D., Wieber, P.-B., Mombaur, K., Diehl, M.

“…Building on previous propositions to generate walking gaits online through the use of linear model predictive control, the goal of this paper is to show that…”
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Prediction of stable walking for a toy that cannot stand by Coleman, M J, Garcia, M, Mombaur, K, Ruina, A

“…Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658 (1998)] showed that a gravity-powered toy with no control and that has no…”
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Human-like actuated walking that is asymptotically stable without feedback by Mombaur, K.D., Bock, H.G., Schloder, J.P., Longman, R.W.

“…Studies a two-legged kneed walking robot with point feet. At any given moment, only one foot is in contact with the ground, and the switching is instantaneous…”
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An optimal control model unifying holonomic and nonholonomic walking by Mombaur, K., Laumond, J.-P., Yoshida, E.

“…In this paper we explore the underlying principles of natural locomotion path generation of human beings. The knowledge of these principles is useful to…”
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Reactive synthesizing of human locomotion combining nonholonomic and holonomic behaviors by Tan-Viet-Anh Truong, Flavigne, D, Pettre, J, Mombaur, K, Laumond, J-P

“…The trajectories of walking humans can be divided into two major classes: first, nonholonomic trajectories during which the orientation of the human body and…”
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Open-loop stable solutions of periodic optimal control problems in robotics by Mombaur, K.D., Bock, H.G., Schlöder, J.P., Longman, R.W.

“…We present a numerical method that optimizes the open‐loop stability of solutions of periodic optimal control problems. We consider general periodic processes…”
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Stable one-legged hopping without feedback and with a point foot by Mombaur, K.D., Longman, R.W., Bock, H.G., Schloder, J.P.

“…We present two-dimensional monopods that are capable of stable periodic hopping motions without any feedback. It is shown that a large foot radius is not…”
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Open-loop stability - a new paradigm for periodic optimal control and analysis of walking mechanisms by Mombaur, K.D., Bock, H.G., Schloder, J.P., Longman, R.W.

“…The paper deals with the numerical solution of periodic optimal design and control problems, such that the resulting optimal trajectories are open-loop stable…”
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