Picture for Felix Grimminger

Felix Grimminger

Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion

Oct 10, 2022
Victor Dhédin, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh Meduri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv, Joerg Stueckler

Figure 1 for Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion

Figure 2 for Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion

Figure 3 for Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion

Figure 4 for Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion

* Submitted to IEEE International Conference on Robotics and Automation (ICRA), 2023

Access Paper or Ask Questions

Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

Aug 07, 2015
Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, Ludovic Righetti

Figure 1 for Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

Figure 2 for Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

Figure 3 for Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

Figure 4 for Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

* 21 pages, 11 figures, 4 tables in Autonomous Robots (2015)

Access Paper or Ask Questions

Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Nov 07, 2014
Alexander Herzog, Ludovic Righetti, Felix Grimminger, Peter Pastor, Stefan Schaal

Figure 1 for Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Figure 2 for Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Figure 3 for Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Figure 4 for Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

* appears in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014

Access Paper or Ask Questions