Thomas Gumpert — accepted AI-conference papers

2019

A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots

Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl +3

ICRA 2019poster

The paper addresses the static balancing and walking of elastically actuated legged robots. The control is realized by commanding the motor positions only and exploiting the bijective relation between motor and link positions at equilibrium under static external forces. The approach is formulated in…

Cited by 6 Source ↗Scholar ↗

2018

Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design

Dominic Lakatos, Kai Ploeger, Florian Loeffl, Daniel Seidel, Florian Schmidt, Thomas Gumpert +3

RA-L 2018

The spring loaded inverted pendulum (SLIP) model has been extensively shown to be fundamental for legged locomotion. However, the way this low-order template model dynamics is anchored in high-dimensional articulated multibody systems describing compliantly actuated robots (and animals) is not obvio

Cited by 39 Source ↗Scholar ↗