Publications

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Steffen Schütz, Atabak Nejadfard, Christian Kötting and Karsten Berns An Intuitive and Comprehensive Two-Load Model for Series Elastic Actuators. IEEE 14th International Workshop on Advanced Motion Control (AMC), 2016 . 2016. (file)

[4] Christian Ott, B. Henze, G. Hettich, T. N. Seyde, M. A. Roa, Vittorio Lippi and T. Mergner, Comparison of bio-inspired and model-based approaches for posture control of humanoid robots. IEEE Robotics and Automation Magazine. 2016.

IEEE Robotics and Automation Magazine Bioinspired Humanoid Posture Control in Frontal Plane. Romansy, 21st CISM IFToMM Symposium on Robot Design, Dynamics and Control . 2016.

Vittorio Lippi and Thomas Mergener A Human-Like Control for Sensorimotor Multi-Tasking in Humanoid Robots.. . In 2015 IEEE-RAS International Conference on Humanoid Robots, Humanoids,Workshop on Whole-Body Multi-Task Multi-Contact Humanoid Control. Seoul, South Korea. 2016.

Christian Ott, B. Henze, G. Hettich, T. N. Seyde, M. A. Roa, Vittorio Lippi and T. Mergner Comparison of bio-inspired and model-based approaches for posture control of humanoid robots. IEEE Robotics and Automation Magazine,. 2016.

D. Torricelli, M. Weckx, V. Lippi, G. Mathijssen, B. Vanderborght, T Mergner, D. Lefeber, J. Gonzalez, JL Pons Benchmarking human likeness of bipedal robot locomotion: State of the art and future trends. In: Metrics of sensory motor coordination and integration in robots and animals, Springer COSMOS Book (Accepted). 2016.

M. Claros, R. Soto, J. L. Gordillo, J. L. Pons and J. L. Contreras-Vidal Robotic Assistance of Human Motion using Active-backdrivability on a Geared Electromagnetic Motor. International Journal of Advanced Robotic Systems. 2016.

Sartori M., Maculan M., Pizzolato C., Reggiani M., Farina D. Modeling and Simulating the Neuromuscular Mechanisms regulating Ankle and Knee Joint Stiffness during Human Locomotion. Journal of Neurophysiology. 114. 2509-2527. 2015. (file)

Gonzalez-Vargas J., Sartori M., Dosen S., Torricelli D., Pons J., Farina D. A predictive model of muscle excitations based on muscle modularity for a large repertoire of human locomotion conditions . Frontiers in Computational Neuroscience. 9. 2015. (file)

A.V. Alexandrov, Vittorio Lippi , T. Mergner, А.А. Frolov, G. Hettich, D. Husek. Humanoid Stance Control Using a Human-inspired Eigenmovement Concept. to IEEE Transactions on robotics,. 2015.

Vittorio Lippi and Thomas Mergener Coupling Forces in Human-like Posture Control. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS Workshop on Dynamic Locomotion and Balancing of Humanoids: State of the Art and Challenges, Seattle, USA. 2015.

Zebenay, M., Lippi, V., & Mergener Human-like humanoid robot posture control. . . In Informatics in Control, Automation and Robotics (ICINCO), 2015 12th International Conference on . 2015. (file)

Hettich, G., Lippi, V., & Mergner, T. Human-Like Sensor Fusion Implemented in the Posture Control of a Bipedal Robot.. Neurotechnology, Electronics, and Informatics (pp. 29-45). Springer International Publishing.. 2015. (file)

Vittorio Lippi and Thomas Mergener. Coupling Forces in Human-like Posture Control. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS Workshop on Dynamic Locomotion and Balancing of Humanoids: State of the Art and Challenges, Seattle, USA,. 2015.

Vittorio Lippi and Thomas Mergener A Human-Like Control for Sensorimotor Multi-Tasking in Humanoid Robots. . In 2015 IEEE-RAS International Conference on Humanoid Robots, Humanoids,Workshop on Whole-Body Multi-Task Multi-Contact Humanoid Control. Seoul, South Korea . 2015. (file)

Assländer, L., Hettich, G., & Mergner, T. Visual contribution to human standing balance during support surface tilts. . Human movement science. 2015. (file)

Hettich, Georg. Multisensory posture control in hip and ankle joints. Doctoral Dissertation Albert-Ludwigs Universität Freiburg . 2015. (file)

Assländer, Lorenz Analysis of the visual contribution to human reactive balancing. Doctoral Dissertation Albert-Ludwigs Universität . 2015. (file)

Qi liu, Jie Zhao, Steffen Schütz, Karsten Berns A mechanism of Particle Swarm Optimization on motor patterns in the B4LC system . 18th International Conference on Climbing and Walking Robots (CLAWAR). 2015. (file)

Jie Zhao, Qi Liu, Steffen Schütz Karsten Berns A Bio-inspired Behavior Based Bipedal Locomotion Control – B4LC Method for Bipedal Upslope Walking . 18th International Conference on Climbing and Walking Robots (CLAWAR). 2015. (file)

Qi liu, Jie Zhao, Steffen Schütz, Karsten Berns Adaptive Motor Patterns and Reflexes for Bipedal Locomotion on Rough Terrain. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). 2015. (file)

Torricelli, D., Gonzalez-vargas, J., Mombaur, K., Tsagarakis, N., Moreno, J. C., & Pons, J. L. Benchmarking Bipedal Locomotion. A Unified Scheme for Humanoids, Wearable Robots, and Humans. IEEE Robotics & Automation Magazine. September. 103–115. 2015. (file)

Iosa M, Gizzi L, Tamburella F, Dominici N. Neuro-motor control and feed-forward models of locomotion in humans. Frontiers in Human Neuroscience. June . 2;9:306. 2015.

[19] Rodríguez -Cianca, D., Weckx, M., Torricelli, D., Gonzalez, J., Lefeber, D., & Pons, J. L. A compliant 2-DoF ankle-foot system for a biologically inspired humanoid robot. Proceedings of the 2015 IEEE-RAS 15th International Conference on Humanoid Robots. 264-269. 2015.

D. Torricelli, J. Veneman, J. Gonzalez and JL Pons Benchmarking bipedal walking Towards international consensus. Dynamic Walking Conference, Ohio, US, July 21-24, 2015. 2015.

[21] Diego Torricelli, Antonio J. del Ama, Jose Gonzalez, Juan Moreno, Angel Gil, Jose L. Pons Benchmarking lower limb wearable robots: emerging approaches and technologies. Pervasive Technologies Related to Assistive Environments conference (PETRA 2015), Greece, July 1-3, 2015. 2015. (file)

M. Weckx, G. Mathijssen, I. Si Mhand Benali, R. Furnemont, R. Van Ham, D. Lefeber and B. Vanderborght. A Two Degree of Freedom Variable Stiffness Actuator Based on The MACCEPA concept.. Actuators. doi: 10.3390/act3020020. 3. 2. 20-40. 2014. (file)

Jie Zhao, Qi Liu, Steffen Schütz, Karsten Berns Experimental Verification of an Approach for Disturbance Estimation and Compensation on a Simulated Biped during Perturbed Stance. IEEE International Conference on Robotics and Automation (ICRA 2014) - to appear . 2014. (file)

Antritter F., Scholz F., Hettich G., and Mergner T.( Stability analysis of human stance control from the system theoretic point of view.. 2014 European Control Conference (ECC), June 24-27, 2014. Strasbourg, France. Pp 1849-1855. 1849-1855. 2014. (file)

D. Torricelli, R. S. M. Mizanoor, J. Gonzalez, V. Lippi, G. Hettich, L. Asslaender, M. Weckx, B. Vanderborght, S. Dosen, M. Sartori, J. Zhao, S. Schuetz, Q. Liu, T. Mergner, D. Lefeber, D. Farina, K. Berns, and J. L. Pons Benchmarking human-like posture and locomotion of humanoid robots: a preliminary scheme. Biomimetic and Biohybrid Systems. Springer International Publishing. 320-331. 2014. (file)

Georg Hettich, Lorenz Assländer, Albert Gollhofer,Thomas Mergner Human hip–ankle coordination emerging from multisensory feedback control. Human Movement Science. 37. 123-146. 2014. (file)

M. Weckx, R. Van Ham and H. Cuypers, R. Jimenez-Fabian, D. Torricelli, J.L. Pons, B. Vanderborght, and D. Lefeber Prototype Design of a Novel Modular Two-Degree-of-Freedom Variable Stiffness Actuator. 2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids). 33 - 38. 2014. (file)

Steffen Schuetz, Max Reichardt, Michael Arndt, Karsten Berns Seamless Extension of a Robot Control Framework to Bare Metal Embedded Nodes. Informatik 2014, Lecture Notes in Informatics (LNI). 1307-1318. 2014. (file)

Glenn Mathijssen, Branko Brackx, Michael Van Damme, Dirk Lefeber, and Bram Vanderborght Series-Parallel Elastic Actuation (SPEA) with intermittent mechanism for reduced motor torque and increased efficiency. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013). 2013. (file)

Glenn Mathijssen, Pierre Cherelle, Dirk Lefebere and Bram Vanderborght Concept of a Series-Parallel Elastic Actuator for a Powered Transtibial Prosthesis. Actuators. 2076-0825. 2. 3. 14. 2013. (file)

G. Hettich, V. Lippi, T. Mergner Human-like Sensor Fusion Mechanisms in a Postural Control Robot. Londral, A. E., Encarnação, P., and Pons, J. L. (Eds) Proceedings of the International Congress on Neurotechnology, Electronics and Informatics. Vilamoura, Portugal, 18 - 20 September, 2013.. 978-989-8565-80-8. 152- 160. 2013. (file)

Vittorio Lippi, Thomas Mergner, Georg Hettich A Bio-inspired Modular System for Humanoid Posture Control. Proceedings of IROS 2013 Workshop on Neuroscience and Robotics "Towards a robot-enabled, neuroscience-guided healthy society" November 3rd, 2013, Tokyo, Japan. 16-21. 2013. (file)

Jie Zhao, Steffen Schütz, and Karsten Berns Biologically Motivated Push Recovery Strategies for a 3D Bipedal Robot Walking in Complex Environments. IEEE International Conference on Robotics and Biomimetics (ROBIO 2013). 2013. (file)

Sartori M et al. A musculoskeletal model of human locomotion driven by a low dimensional set of impulsive excitation primitives. Front. Comput. Neurosci.. 7:79. 2013. (file)

Oliveira AS et al. Effects of Perturbation on Neuromechanics of Fast Changes in Direction during Locomotion. PLoS ONE. 8(3):e59029. 2013. (file)

Torricelli D, Pons JL Humanoids meet rehabilitation: concept and potential. Proc. of International Congress on Neurotechnology, Electronics, and Informatics (Neurotechnix2013). Algarve, Portugal. 2013. (file)

Mathijssen Glenn, Brackx Branko, Van Damme Michael, Van Ham Ronald, Lefeber Dirk, Vanderborght Bram Novel Design of a Series-Parallel Elastic Actuator (SPEA). ICRA 2013 Workshop: Human Robot Interaction (HRI) for Assistance and Industrial Robots. Scientific Knowledge, Standards and Regulatory Framework. How do I design for the real world?. 2013. (file)

M. Weckx, B. Vanderborght, D. Lefeber Compliant and Efficient Walking. Benchmarking of Human-Like Robotic Locomotion workshop at the 2013 IEEE-RAS International Conference on Humanoid Robots.. 2013. (file)

G. Mathijssen, D. Lefeber, and B. Vanderborght Variable recruitment of parallel elastic elements: Series-parallel elastic actuators (spea). IEEE/ASME Transactions on Mechatronics, 2013. 2013. (file)

Diego Torricelli, Rahman S. M. Mizanoor, Vittorio Lippi, Maarten Weckx, Glenn Mathijssen, Bram Vanderborght, Thomas Mergner, Dirk Lefeber, Jose L. Pons Benchmarking human likeness of bipedal robot locomotion: State of the art and future trends. Springer Cognitive Systems Monographs (COSMOS Series). 2013.

Vittorio Lippi, Diego Torricelli, Georg Hettich, Thomas Mergner Benchmarking human-likeness of robot postural control. Suggestions from human experiments. Workshop in Benchmarking of human-like robotic locomotion, IEEE-RAS International Conference on Humanoid Robots. 2013. (file)

J.L. Pons, J.C. Moreno, D. Torricelli, J.S. Taylor Principles of human locomotion: a review. Proceedings of 35th Annual International Conference of the IEEE EMBS (EMBC2013). 2013. (file)