The next Doctoral Research Seminar is titled "The importance of angular momentum in humanoid locomotion and push recovery" by Robert Schuller - DLR

Several biomechanical studies point to the great importance of angular momentum in human locomotion. Inspired by these observations, explicit control of angular momentum has become a core component of humanoid locomotion approaches. However, due to its nonlinear and nonholonomic properties, it is still an ongoing research problem. A properly planned and controlled angular momentum can increase the robustness of the system to external disturbances (push recovery) or lead to a more energy efficient locomotion scheme. In this talk, approaches to improve humanoid locomotion by actively exploiting the robot's angular momentum will be presented.

June 19th, 2023, 10:30 am - 11:30 am in room 2026, Karlstr. 45.