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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

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

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Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations


Jun 23, 2022
Chenhao Li, Marin Vlastelica, Sebastian Blaes, Jonas Frey, Felix Grimminger, Georg Martius

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Bipedal Walking Control using Variable Horizon MPC


Oct 16, 2020
Elham Daneshmand, Majid Khadiv, Felix Grimminger, Ludovic Righetti

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TriFinger: An Open-Source Robot for Learning Dexterity


Aug 08, 2020
Manuel Wüthrich, Felix Widmaier, Felix Grimminger, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer

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An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research


Sep 30, 2019
Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti

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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

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

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


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

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

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