Monika Harant — accepted AI-conference papers

2021

I3SA: The Increased Step Size Stability Assessment Benchmark and its Application to the Humanoid Robot REEM-C

Felix Aller, Monika Harant, Sebastian Sontag, Matthew Millard, Katja Mombaur

IROS 2021poster

The implementation of stable locomotion on humanoid robots is a difficult task. This is complicated by the fact that there is no uniform method for analyzing a robot and its control architecture and for calculating indicators to quantify performance of flat ground walking. Moreover, there is no wide…

Cited by 3 Source ↗Scholar ↗

2017

COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning and its Transfer to the Real Robot HRP-2

Debora Clever, Monika Harant, Katja D. Mombaur, Maximilien Naveau, Olivier Stasse, Dominik M. Endres

RA-L 2017

COCoMoPL is a recently developed approach combining optimal control, movement primitives and learning for the generation of humanoid walking motions (Clever et al. Robot. Auton. Syst., vol. 83, pp. 287.298, 2016). It solves optimal control problems based on detailed dynamic models of the robot for a

Cited by 34 Source ↗Scholar ↗