Johannes Englsberger

46 papers A* 8A 6C 1Journal 18Unranked 13
YearRankTypeTitle / Venue / Authors
2026 J jnl
Centroidal Angular Momentum-Aware Planning for Legged Locomotion Integrating 3D-DCM and Swing-Leg Trajectory Optimization.
IEEE Robotics Autom. Lett.
Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Alin Albu-Schäffer
2025 A* conf
Angular Divergent Component of Motion: A Step Towards Planning Spatial DCM Objectives for Legged Robots.
ICRA
Connor W. Herron, Robert Schuller, Benjamin C. Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger
2025 J jnl
Humanoid Robot Running Through Random Stepping Stones and Jumping Over Obstacles: Step Adaptation Using Spring-Mass Trajectories.
CoRR
Sait Sovukluk, Johannes Englsberger, Christian Ott
2025 J jnl
Motion Planning for Humanoid Locomotion: Applications to Homelike Environments.
IEEE Robotics Autom. Mag.
George Mesesan, Robert Schuller, Johannes Englsberger, Máximo A. Roa, Jinoh Lee, Christian Ott, Alin Albu-Schäffer
2025 A* conf
Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics.
ICRA
Sait Sovukluk, Robert Schuller, Johannes Englsberger, Christian Ott
2025 J jnl
Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics.
CoRR
Sait Sovukluk, Robert Schuller, Johannes Englsberger, Christian Ott
2024 J jnl
Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots.
CoRR
Connor W. Herron, Robert Schuller, Benjamin Beiter, Robert J. Griffin, Alexander Leonessa, Johannes Englsberger
2024 J jnl
Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics.
IEEE Robotics Autom. Lett.
Sait Sovukluk, Johannes Englsberger, Christian Ott
2023 J jnl
Coriolis Factorizations and their Connections to Riemannian Geometry.
CoRR
Patrick M. Wensing, Johannes Englsberger, Jean-Jacques E. Slotine
2023 — conf
Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases.
Humanoids
Tobias Egle, Johannes Englsberger, Christian Ott
2023 J jnl
Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion.
IEEE Trans. Robotics
George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2023 A conf
Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study.
IROS
Sait Sovukluk, Johannes Englsberger, Christian Ott
2022 — conf
Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions.
Humanoids
Tobias Egle, Johannes Englsberger, Christian Ott
2022 A* conf
Online Learning of Centroidal Angular Momentum towards Enhancing DCM-based Locomotion.
ICRA
Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott
2022 A* conf
Planning Natural Locomotion for Articulated Soft Quadrupeds.
ICRA
Mathew Jose Pollayil, Cosimo Della Santina, George Mesesan, Johannes Englsberger, Daniel Seidel, Manolo Garabini, Christian Ott, Antonio Bicchi, Alin Albu-Schäffer
2021 — conf
From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness.
HUMANOIDS
Johannes Englsberger, Alessandro M. Giordano, Achraf Hiddane, Robert Schuller, Florian Loeffl, George Mesesan, Christian Ott
2021 J jnl
Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery.
IEEE Robotics Autom. Lett.
Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott
2021 A* conf
Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion.
ICRA
George Mesesan, Johannes Englsberger, Christian Ott
2021 — conf
Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control.
HUMANOIDS
Shengzhi Wang, George Mesesan, Johannes Englsberger, Dongheui Lee, Christian Ott
2020 — conf
MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks.
Robotics: Science and Systems
Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2019 — conf
Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control.
Humanoids
George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2019 J jnl
Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases.
IEEE Robotics Autom. Mag.
Abderrahmane Kheddar, Máximo A. Roa, Pierre-Brice Wieber, François Chaumette, Fabien Spindler, Giuseppe Oriolo, Leonardo Lanari, Adrien Escande, Kevin Chappellet, Fumio Kanehiro, Patrice Rabaté, Stéphane Caron, Pierre Gergondet, Andrew I. Comport, Arnaud Tanguy, Christian Ott, Bernd Henze, George Mesesan, Johannes Englsberger
2019 J jnl
Sensitivity of Legged Balance Control to Uncertainties and Sampling Period.
CoRR
Nahuel A. Villa, Johannes Englsberger, Pierre-Brice Wieber
2019 J jnl
Sensitivity of Legged Balance Control to Uncertainties and Sampling Period.
IEEE Robotics Autom. Lett.
Nahuel Alejandro Villa, Johannes Englsberger, Pierre-Brice Wieber
2018 J jnl
Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion.
IEEE Robotics Autom. Lett.
George Mesesan, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2018 — conf
DCM-Based Gait Generation for Walking on Moving Support Surfaces.
Humanoids
Johannes Englsberger, George Mesesan, Christian Ott, Alin Albu-Schäffer
2018 A* conf
Inclusion of Angular Momentum During Planning for Capture Point Based Walking.
ICRA
Tim Seyde, Apoorv Shrivastava, Johannes Englsberger, Sylvain Bertrand, Jerry E. Pratt, Robert J. Griffin
2018 A* conf
Torque-Based Dynamic Walking - A Long Way from Simulation to Experiment.
ICRA
Johannes Englsberger, George Mesesan, Alexander Werner, Christian Ott
2017 J jnl
Continuous Legged Locomotion Planning.
IEEE Trans. Robotics
Nicolas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux, Darwin G. Caldwell
2017 A* conf
Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion.
ICRA
George Mesesan, Johannes Englsberger, Bernd Henze, Christian Ott
2017 A conf
Smooth trajectory generation and push-recovery based on Divergent Component of Motion.
IROS
Johannes Englsberger, George Mesesan, Christian Ott
2016 J jnl
Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back.
IEEE Trans. Robotics
Johannes Englsberger, Pawel Kozlowski, Christian Ott, Alin Albu-Schäffer
2016 J jnl
Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas.
Int. J. Humanoid Robotics
Twan Koolen, Sylvain Bertrand, Gray Thomas, Tomas de Boer, Tingfan Wu, Jesper Smith, Johannes Englsberger, Jerry E. Pratt
2015 A conf
Biologically Inspired Dead-beat controller for bipedal running in 3D.
IROS
Johannes Englsberger, Pawel Kozlowski, Christian Ott
2015 — conf
Biologically inspired deadbeat control for running on 3D stepping stones.
Humanoids
Johannes Englsberger, Pawel Kozlowski, Christian Ott
2015 C conf
On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations.
ACC
Gianluca Garofalo, Johannes Englsberger, Christian Ott
2015 J jnl
Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion.
IEEE Trans. Robotics
Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2014 — conf
Control applications of TORO - A Torque controlled humanoid robot.
Humanoids
Bernd Henze, Alexander Werner, Máximo A. Roa, Gianluca Garofalo, Johannes Englsberger, Christian Ott
2014 — conf
Overview of the torque-controlled humanoid robot TORO.
Humanoids
Johannes Englsberger, Alexander Werner, Christian Ott, Bernd Henze, Máximo A. Roa, Gianluca Garofalo, Robert Burger, Alexander Beyer, Oliver Eiberger, Korbinian Schmid, Alin Albu-Schäffer
2014 A conf
Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion.
IROS
Johannes Englsberger, Twan Koolen, Sylvain Bertrand, Jerry E. Pratt, Christian Ott, Alin Albu-Schäffer
2013 A conf
Three-dimensional bipedal walking control using Divergent Component of Motion.
IROS
Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2012 J jnl
Gangstabilisierung humanoider Roboter mittels Capture Point Regelung.
Autom.
Johannes Englsberger, Christian Ott
2012 — conf
Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking.
Humanoids
Johannes Englsberger, Christian Ott
2012 — conf
Kinematic optimization and online adaptation of swing foot trajectory for biped locomotion.
Humanoids
Hiroshi Kaminaga, Johannes Englsberger, Christian Ott
2012 — conf
Stabilization of the Capture Point Dynamics for Bipedal Walking Based on Model Predictive Control.
SyRoCo
Manuel Krause, Johannes Englsberger, Pierre-Brice Wieber, Christian Ott
2011 A conf
Bipedal walking control based on Capture Point dynamics.
IROS
Johannes Englsberger, Christian Ott, Máximo A. Roa, Alin Albu-Schäffer, Gerhard Hirzinger