Philipp Beckerle — accepted AI-conference papers

2021

Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping

Rustam Galljamov, Arjang Ahmadi, Omid Mohseni, André Seyfarth, Philipp Beckerle, Maziar Ahmad Sharbafi

RA-L 2021

Achieving efficient and human-like hopping motions with consistent consecutive patterns requires proper mechanical design and control. In this regard, we introduce a new bioinspired design and control approach comprised of a hybrid actuation system and force-based compliance control. Combining an el

Cited by 9 Source ↗Scholar ↗

2019

A Hopping Robot Driven by a Series Elastic Dual-Motor Actuator

Tom Verstraten, Raphael Furnemont, Philipp Beckerle, Bram Vanderborght, Dirk Lefeber

RA-L 2019

In this letter, we present the kinematically redundant series elastic dual-motor actuator (SEDMA). It consists of two motors, coupled to a series spring through a planetary differential. The redundant degree of freedom of this system can be exploited to optimize a specific aspect of the actuation ta

Cited by 22 Source ↗Scholar ↗

2017

Autonomous navigation of hexapod robots with vision-based controller adaptation

Marko Bjelonic, Timon Homberger, Navinda Kottege, Paulo Borges, Margarita Chli, Philipp Beckerle

ICRA 2017poster

This work introduces a novel hybrid control architecture for a hexapod platform (Weaver), making it capable of autonomously navigating in uneven terrain. The main contribution stems from the use of vision-based exteroceptive terrain perception to adapt the robot's locomotion parameters. Avoiding com…

Cited by 31 Source ↗Scholar ↗

2016

Proprioceptive control of an over-actuated hexapod robot in unstructured terrain

Marko Bjelonic, Navinda Kottege, Philipp Beckerle

IROS 2016poster

Legged robots such as hexapods have the potential to traverse unstructured terrain. This paper introduces a novel hexapod robot (Weaver) using a hierarchical controller, with the ability to efficiently traverse uneven and inclined terrain. The robot has five joints per leg and 30 degrees of freedom…

Cited by 89 Source ↗Scholar ↗