Utilizing Natural Dynamics for Reliable Legged Locomotion

Project Information

NatDyReL

Grant agreement ID: 819358

DOI

10.3030/819358

Project closed

EC signature date 13 March 2019

Start date 1 April 2019

End date 30 September 2024

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost

€ 1 981 500,00

EU contribution

€ 1 981 500,00

Coordinated by

TECHNISCHE UNIVERSITAET WIEN
Austria

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Conference proceedings (13)

Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study

Author(s): Sait Sovukluk, Johannes Englsberger, Christian Ott
Published in: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Page(s) 10390-10396
Publisher: IEEE
DOI: 10.1109/iros55552.2023.10341391

Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion

Author(s): George Mesesan, Johannes Englsberger, Christian Ott
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Page(s) 12780-12786, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9560808

Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control

Author(s): Shengzhi Wang, George Mesesan, Johannes Englsberger, Dongheui Lee, Christian Ott
Published in: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021, Page(s) 112-119, ISBN 978-1-7281-9372-4
Publisher: IEEE
DOI: 10.1109/humanoids47582.2021.9555676

An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots

Author(s): Christian Ott; Fabian Beck; Manuel Keppler
Published in: IFAC Symposium on Robot Control (SYROCO), Issue 17, 2022, ISSN 2405-8971
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.01.142

Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control

Author(s): George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
Published in: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019
Publisher: IEEE
DOI: 10.1109/humanoids43949.2019.9035053

Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations

Author(s): Sait Sovukluk, Christian Ott, M. Mert Ankaralı
Published in: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2024, Page(s) 1-8
Publisher: IEEE
DOI: 10.1109/humanoids57100.2023.10375153

Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots

Author(s): Juan Miguel Garcia-Haro, Bernd Henze, George Mesesan, Santiago Martinez, Christian Ott
Published in: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, Page(s) 644-650, ISBN 978-1-5386-7630-1
Publisher: IEEE
DOI: 10.1109/humanoids43949.2019.9035010

Control of a Class of Underactuated Systems by Successive Submanifold Stabilization

Author(s): Fabian Beck, Noboru Sakamoto, Christian Ott
Published in: IFAC PapersOnline, 2021, ISSN 2405-8963
Publisher: Elsevier

Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions

Author(s): Tobias Egle, Johannes Englsberger, Christian Ott
Published in: International Conference on Humanoid Robots (Humanoids), 2022, ISBN 979-8-3503-0980-5
Publisher: IEEE
DOI: 10.1109/humanoids53995.2022.10000236

Online Learning of Centroidal Angular Momentum Towards Enhancing DCM-Based Locomotion

Author(s): Schuller, Robert; Mesesan, George-Adrian; Englsberger, Johannes; Lee, Jinoh; Ott, Christian
Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 13, 2022, ISBN 978-1-7281-9682-4
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9811708

A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion

Author(s): Konrad Frund; Anton Leonhard Shu; Florian Christoph Loeffl; Christian Ott
Published in: IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Issue 20, 2022, ISBN 979-8-3503-0980-5
Publisher: IEEE
DOI: 10.1109/humanoids53995.2022.10000126

Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions

Author(s): Fabian Beck, Maximilian Rehermann, Christian Ott
Published in: IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022, ISBN 979-8-3503-0980-5
Publisher: IEEE
DOI: 10.1109/humanoids53995.2022.10000146

Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases

Author(s): Tobias Egle, Johannes Englsberger, Christian Ott
Published in: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2024, Page(s) 1-8
Publisher: IEEE
DOI: 10.1109/humanoids57100.2023.10375152

Peer reviewed articles (12)

Passivity-based Motion and Force Tracking Control for Constrained Elastic Joint Robots

Author(s): Xuming Meng, Manuel Keppler, Christian Ott
Published in: IEEE Control Systems Letters (L-CSS), 2022, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2022.3187345

Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds

Author(s): Gianluca Garofalo, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 6153-6160, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3010449

Agile and Dynamic Standing-up Control for Humanoids using 3D DivergentComponent of Motion in Multi-contact Scenario

Author(s): Grazia Zambella, Robert Schuller, George Mesesan, Antonio Bicchi, Christian Ott, Jinoh Lee
Published in: Robotics and Automation Letters (RA-L), 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3297060

Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery

Author(s): Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 6/3, 2021, Page(s) 5689-5696, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3082023

Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics

Author(s): Sait Sovukluk, Johannes Englsberger, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, Page(s) 1131-1138, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3342668

Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators

Author(s): Gianluca Garofalo, Xuwei Wu, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 6/4, 2021, Page(s) 7129-7136, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3095930

Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control

Author(s): Min Jun Kim, Alexander Werner, Florian Loeffl, Christian Ott
Published in: IEEE Transactions on Robotics, Issue Vol. 38, No. 1, 2022, Page(s) 584-598, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3071617

Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators

Author(s): Harder, Marie Christin; Keppler, Manuel; Meng, Xuming; Ott, Christian; Höppner, Hannes; Dietrich, Alexander
Published in: Robotics and Automation Letters, Issue 1, 2022, ISSN 2377-3766
Publisher: IEEE

Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control

Author(s): Manuel Keppler, Florian Loeffl, David Wandinger, Clara Raschel, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 6/4, 2021, Page(s) 7121-7128, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3097079

Unified Motion Planner for Walking, Running, and Jumping Using theThree-Dimensional Divergent Component of Motion

Author(s): George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
Published in: IEEE Transactions on Robotics (TRO), 2023, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3321396

Impact Analysis for the Planning of Targeted Non-Slippage Impacts of Robot Manipulators

Author(s): Annika Kirner, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, Page(s) 2750-2757, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2024.3359536

Optimal Stabilization of Periodic Orbits

Author(s): Fabian Beck, Noboru Sakamoto
Published in: IFAC-PapersOnLine, Issue 56, 2024, Page(s) 7509-7515, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.648