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2019


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A Learnable Safety Measure

Heim, S., Rohr, A. V., Trimpe, S., Badri-Spröwitz, A.

Conference on Robot Learning, November 2019 (conference) Accepted

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Arxiv [BibTex]

2019


Arxiv [BibTex]


Thumb xl screenshot 2019 08 30 at 15.45.28
Trunk Pitch Oscillations for Joint Load Redistribution in Humans and Humanoid Robots

Drama, Ö., Badri-Spröwitz, A.

Proceedings International Conference on Humanoid Robots, Humanoids, September 2019 (conference) Accepted

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link (url) [BibTex]

link (url) [BibTex]


Thumb xl screen shot 2019 04 18 at 5.55.23 pm
Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg

Ruppert, F., Badri-Spröwitz, A.

Frontiers in Neurorobotics, 64, pages: 13, 13, August 2019 (article)

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Frontiers YouTube link (url) DOI [BibTex]

Frontiers YouTube link (url) DOI [BibTex]


Thumb xl screen shot 2019 04 19 at 11.29.37 am
The positive side of damping

Heim, S., Millard, M., Le Mouel, C., Sproewitz, A.

Proceedings of AMAM, The 9th International Symposium on Adaptive Motion of Animals and Machines, August 2019 (conference) Accepted

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[BibTex]

[BibTex]


Thumb xl screenshot 2019 08 19 at 13.54.21
Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics

Steve Heim, , Spröwitz, A.

IEEE Transactions on Robotics (T-RO) , 35(4), pages: 939-952, August 2019 (article)

Abstract
Properly designing a system to exhibit favorable natural dynamics can greatly simplify designing or learning the control policy. However, it is still unclear what constitutes favorable natural dynamics and how to quantify its effect. Most studies of simple walking and running models have focused on the basins of attraction of passive limit cycles and the notion of self-stability. We instead emphasize the importance of stepping beyond basins of attraction. In this paper, we show an approach based on viability theory to quantify robust sets in state-action space. These sets are valid for the family of all robust control policies, which allows us to quantify the robustness inherent to the natural dynamics before designing the control policy or specifying a control objective. We illustrate our formulation using spring-mass models, simple low-dimensional models of running systems. We then show an example application by optimizing robustness of a simulated planar monoped, using a gradient-free optimization scheme. Both case studies result in a nonlinear effective stiffness providing more robustness.

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arXiv preprint arXiv:1806.08081 T-RO link (url) DOI Project Page [BibTex]

arXiv preprint arXiv:1806.08081 T-RO link (url) DOI Project Page [BibTex]


Thumb xl screen shot 2019 04 19 at 11.36.04 am
Quantifying the Robustness of Natural Dynamics: a Viability Approach

Heim, S., Sproewitz, A.

Proceedings of Dynamic Walking , Dynamic Walking , 2019 (conference) Accepted

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Submission DW2019 [BibTex]

Submission DW2019 [BibTex]

2016


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On designing an active tail for legged robots: simplifying control via decoupling of control objectives

Heim, S. W., Ajallooeian, M., Eckert, P., Vespignani, M., Ijspeert, A. J.

Industrial Robot: An International Journal, 43, pages: 338-346, Emerald Group Publishing Limited, 2016 (article)

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Preprint [BibTex]

2016


Preprint [BibTex]


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ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot

Hubicki, C., Grimes, J., Jones, M., Renjewski, D., Spröwitz, A., Abate, A., Hurst, J.

{The International Journal of Robotics Research}, 35(12):1497-1521, Sage Publications, Inc., Cambridge, MA, 2016 (article)

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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On designing an active tail for body-pitch control in legged robots via decoupling of control objectives

Heim, S. W., Ajallooeian, M., Eckert, P., Vespignani, M., Ijspeert, A.

In ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015, pages: 256-264, 2016 (inproceedings)

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[BibTex]

[BibTex]