Felix Grimminger

TL;DR: An open loop controller is described that enables a small robot to reliably climb a wide range of regular, full-size stairs with no operator input during stair climbing.

TL;DR: In this article, a simplification of hierarchical inverse dynamics based on cascades of quadratic programs has been proposed for real-time control of legged robots, where momentum-based control is integrated in the task hierarchy and a LQR design approach is used to compute the desired associated closed-loop behavior.

TL;DR: A novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation is presented, which can regulate complex motions while being robust to environmental uncertainty.

TL;DR: An experimental evaluation of hierarchical inverse dynamics controllers based on cascades of quadratic programs in the context of balance control for a humanoid robot shows that they can be used for feedback control of humanoid robots and that momentum-based balance control can be efficiently implemented on a real robot.

TL;DR: This work proposes a reformulation of existing algorithms that demonstrates that hierarchical inverse dynamics together with momentum control can be efficiently used for feedback control under real robot conditions and demonstrates very robust performance in the face of unknown disturbances.