Josephus J. M. Driessen — accepted AI-conference papers

2019

Experimental Demonstration of High-Performance Robotic Balancing

Josephus J. M. Driessen, Antonios E. Gkikakis, Roy Featherstone, B. Roodra P. Singh

ICRA 2019poster

This paper presents the first practical demonstration of a recently developed theory of balance control that aims to achieve high performance in the sense of allowing a robot to make large, fast movements while maintaining its balance on a narrow support. This theory includes a simple method of lean…

Cited by 24 Source ↗Scholar ↗

2018

An Actuator Design Criterion to Maximize Physical Balance Recovery

Josephus J. M. Driessen, Roy Featherstone, Antonios E. Gkikakis

IROS 2018poster

This paper first presents a formula to predict the largest balance disturbance from which a legged robot can recover without taking a step. It then presents an actuator design criterion derived from this formula that maximizes the robot's ability to recover. In this study, it is assumed that the rob…

Cited by 5 Source ↗Scholar ↗