13 accepted papers
Lower limb exoskeletons and exosuits have shown promise in augmenting human physical capabilities, with applications ranging from rehabilitation to performance enhancement. Accurate evaluation of their impact on metabolic energy expenditure is crucial for optimizing design and control strategies. Wh
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive volumetric maps. To enhance efficiency on computationally limit…
Combination of optimal control methods and machine learning approaches allows to profit from complementary benefits of each field in control of robotic systems. Data from optimal trajectories provides valuable information that can be used to learn a near-optimal state-dependent feedback control poli…
Autonomous service robots have great potential to support humans in tasks they cannot perform due to, amongst others, time constraints, work overload, or staff shortages. An important step for such service robots to be trusted or accepted by society is the provision of transparency. Its purpose is n
In recent years, the capabilities of legged locomotion controllers have been significantly advanced enabling them to traverse basic types of uneven terrain without visual perception. However, safely and autonomously traversing longer distances over difficult uneven terrain requires appropriate motio…
The ability to optimally control robotic systems offers significant advantages for their performance. While time-dependent optimal trajectories can numerically be computed for high dimensional nonlinear system dynamic models, constraints and objectives, finding optimal feedback control policies for…
Bipedal robots have gained a lot of locomotion capabilities the past few years, especially in the control level. Navigation over complex and unstructured environments using exteroceptive perception, is still an active research topic. In this paper, we present a footstep planning system to produce fo…
Accurate velocity estimation is an important basis for robot control, but especially challenging for highly elastically driven robots. These robots show large swing or oscillation effects if they are not damped appropriately during the performed motion. In this letter, we consider an ultralightweigh
This paper presents a sequential optimum design approach for estimating the parameters of an atmospheric dispersion process model based on measurement data gathered by a team of cooperating sensor-equipped UAVs. Locally optimal waypoint sequences that account for each UAV's possibly heterogeneous mo…
We present a simple and efficient mathematical framework suitable for generating motion in the context of a variety of robotic motion tasks ranging from low-level motor control up to high-level locomotion planning. Our concept is based on a one-dimensional second-order model that allows analytic com…
Motivated by the DARPA Robotics Challenge (DRC), the application of operator assisted (semi-)autonomous robots with highly complex locomotion and manipulation abilities is considered for solving complex tasks in potentially unknown and unstructured environments. Because of the limited a priori knowl
The dynamic behavior of many technical and biomechanical systems can be modeled, simulated and optimized by using a multibody systems approach. Systems with many degrees of freedom typically result in complex and high-dimensional multibody systems models that necessitate capable modeling approaches
Bio-inspired legged robots with compliant actuation can potentially achieve motion properties in real world scenarios which are superior to conventionally actuated robots. In this paper, a methodology is presented to systematically design and tailor passive and active control elements for elasticall…