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Bernd Henze
Bernd Henze
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Overview of the torque-controlled humanoid robot TORO
J Englsberger, A Werner, C Ott, B Henze, MA Roa, G Garofalo, R Burger, ...
2014 IEEE-RAS International Conference on Humanoid Robots, 916-923, 2014
3352014
Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios
B Henze, MA Roa, C Ott
The International Journal of Robotics Research 35 (12), 1522-1543, 2016
1772016
Humanoid robots in aircraft manufacturing: The airbus use cases
A Kheddar, S Caron, P Gergondet, A Comport, A Tanguy, C Ott, B Henze, ...
IEEE Robotics & Automation Magazine 26 (4), 30-45, 2019
842019
Posture and balance control for humanoid robots in multi-contact scenarios based on model predictive control
B Henze, C Ott, MA Roa
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2014
742014
An approach to combine balancing with hierarchical whole-body control for legged humanoid robots
B Henze, A Dietrich, C Ott
IEEE Robotics and Automation Letters 1 (2), 700-707, 2015
732015
Good posture, good balance: comparison of bioinspired and model-based approaches for posture control of humanoid robots
C Ott, B Henze, G Hettich, TN Seyde, MA Roa, V Lippi, T Mergner
IEEE Robotics & Automation Magazine 23 (1), 22-33, 2016
562016
Humanoid teleoperation using task-relevant haptic feedback
F Abi-Farrajl, B Henze, A Werner, M Panzirsch, C Ott, MA Roa
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018
412018
On the inertially decoupled structure of the floating base robot dynamics
G Garofalo, B Henze, J Englsberger, C Ott
IFAC-PapersOnLine 48 (1), 322-327, 2015
412015
Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing
C Ott, B Henze, D Lee
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2013
372013
Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts
B Henze, A Dietrich, MA Roa, C Ott
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2017
362017
Torque-based balancing for a humanoid robot performing high-force interaction tasks
F Abi-Farraj, B Henze, C Ott, PR Giordano, MA Roa
IEEE Robotics and Automation Letters 4 (2), 2023-2030, 2019
352019
Multi-contact planning and control for a torque-controlled humanoid robot
A Werner, B Henze, DA Rodriguez, J Gabaret, O Porges, MA Roa
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2016
272016
Control applications of toro—a torque controlled humanoid robot
B Henze, A Werner, MA Roa, G Garofalo, J Englsberger, C Ott
2014 IEEE-RAS International Conference on Humanoid Robots, 841-841, 2014
272014
Passivity analysis and control of humanoid robots on movable ground
B Henze, R Balachandran, MA Roa-Garzon, C Ott, A Albu-Schäffer
IEEE Robotics and Automation Letters 3 (4), 3457-3464, 2018
212018
Mechanisms and design of DLR humanoid robots
C Ott, MA Roa Garzon, F Schmidt, W Friedl, J Englsberger, R Burger, ...
Humanoid Robotics: A Reference, 1-26, 2017
202017
Dynamic multi-contact transitions for humanoid robots using divergent component of motion
G Mesesan, J Englsberger, B Henze, C Ott
2017 IEEE International Conference on Robotics and Automation (ICRA), 4108-4115, 2017
172017
A wearable, ultralight interface for bimanual teleoperation of a compliant, whole-body-controlled humanoid robot
O Porges, M Connan, B Henze, A Gigli, C Castellini, MA Roa Garzon
2019 International Conference on Robotics and Automation, ICRA 2019, 2019
142019
Experiments with human-inspired behaviors in a humanoid robot: quasi-static balancing using toe-off motion and stretched knees
B Henze, MA Roa, A Werner, A Dietrich, C Ott, A Albu-Schäffer
2019 International Conference on Robotics and Automation (ICRA), 2510-2516, 2019
122019
Optimal and robust walking using intrinsic properties of a series-elastic robot
A Werner, B Henze, F Loeffl, S Leyendecker, C Ott
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …, 2017
112017
Optimal trajectory for active safe falls in humanoid robots
L Rossini, B Henze, F Braghin, MA Roa
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids …, 2019
92019
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