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Markus Zimmermann

5 accepted papers

2025

Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking

Akhil Sathuluri, Carlotta Sartore, Stefano Dafarra, Silvio Traversaro, Markus Zimmermann, Daniele Pucci
RA-L 2025

Combined optimisation of various robot subsystems as a co-design problem has been shown to identify performant robots. However, classical optimisation methods result in point-optimum solutions that may not ensure robust performance and physical feasibility, i.e., the existence of components with spe

Cited by 1Source ↗Scholar ↗
2024

Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” Competition

Felix Wiebe, Niccolò Turcato, Alberto Dalla Libera, Chi Zhang, Theo Vincent, Shubham Vyas +9
IJCAI 2024poster

As artificial intelligence gains new capabilities, it becomes important to evaluate it on real-world tasks. In particular, the fields of robotics and reinforcement learning (RL) are lacking in standardized benchmarking tasks on real hardware. To facilitate reproducibility and stimulate algorithmi…

Cited by 11Source ↗PDF ↗Scholar ↗
2024

Static Modeling of the Stiffness and Contact Forces of Rolling Element Eccentric Drives for Use in Robotic Drive Systems

Simon Fritsch, Stefan Landler, Michael Otto, Birgit Vogel-Heuser, Markus Zimmermann, Karsten Stahl
IROS 2024poster

Rolling element eccentric drives promise to be an easy-to-manufacture and performant gear system for robotic actuators. They share characteristics with other eccentric drives, such as strain wave and cycloidal drives, but use rolling elements instead of an eccentric gear. They offer reduced manufact…

Cited by 0Source ↗Scholar ↗
2023

Determination of the Characteristics of Gears of Robot-Like Systems by Analytical Description of their Structure

Stefan Landler, Raúl Molina Blanco, Michael Otto, Birgit Vogel-Heuser, Markus Zimmermann, Karsten Stahl
IROS 2023poster

The axes of robots and robot-like systems (RLS) usually include e-motor-gearbox-arrangements for optimal connection of the elements. The characteristics of the drive system and thus also of the robot depend strongly on the gears. Different gearbox designs are available which differ in stiffness, eff…

Cited by 3Source ↗Scholar ↗