Felix Grimminger

Mechatronics Engineer

Autonomous Motion

Office: N2.015
Max-Planck-Ring 4
Tübingen
Germany

+49 7071 601 1733

Felix Grimminger is a mechatronics engineer working in the Autonomous Motion Department at the Max-Planck-Institute for Intelligent Systems in Tübingen, Germany. Before joining the Autonomous Motion Lab in 2013 he worked for Boston Dynamics on the BigDog project and on several different robotic projects at the German Research Center for Artificial Intelligence in Bremen, Germany. He is especially interested in mechanical design, series elastic actuation and highly dynamic legged robots.

Rapid Prototyping Coordinate System

STL Files: coordinate_system_stl_files.zip
Solidworks Files: coordinate_system_solidworks_files.zip

Coordinate systems to visualize coordinate transformations
Consists of 4 rapid prototyping parts –STL and Solidworks files available
Printed on Fortus 360mc FDM printer / polycarbonate / Layer thickness 0.18mm
3 magnets on the base for magnet board attachment – magnet dimensions Ø10mm x 2mm
Light press fit of the arrows in the base
Press fit might have to be adjusted depending on your 3d printer tolerances

22 results (View BibTeX file of all listed publications)

2020

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

The IEEE Robotics and Automation Letters, 5(2):3650 - 3657, IEEE, April 2020 (article)

Youtube Open Dynamic Robot Initiative link (url) DOI [BibTex]

2020

Felix Grimminger, , Avadesh Meduri, , Majid Khadiv, , Julian Viereck, , Manuel Wüthrich, , Maximilien Naveau, , Vincent Berenz, , Steve Heim, , Felix Widmaier, , Thomas Flayols, , Jonathan Fiene, , Alexander Badri-Spröwitz, , Righetti, L. An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research The IEEE Robotics and Automation Letters, 5(2):3650 - 3657, IEEE, April 2020 (article)

Youtube Open Dynamic Robot Initiative link (url) DOI [BibTex]

A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models

Agudelo-España, D., Zadaianchuk, A., Wenk, P., Garg, A., Akpo, J., Grimminger, F., Viereck, J., Naveau, M., Righetti, L., Martius, G., Krause, A., Schölkopf, B., Bauer, S., Wüthrich, M.

IEEE International Conference on Robotics and Automation (ICRA), 2020 (conference) Accepted

Project Page PDF [BibTex]

Agudelo-España, D., Zadaianchuk, A., Wenk, P., Garg, A., Akpo, J., Grimminger, F., Viereck, J., Naveau, M., Righetti, L., Martius, G., Krause, A., Schölkopf, B., Bauer, S., Wüthrich, M. A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models IEEE International Conference on Robotics and Automation (ICRA), 2020 (conference) Accepted

Project Page PDF [BibTex]

2017

Linking Mechanics and Learning

Heim, S., Grimminger, F., Drama, Ö., Spröwitz, A.

In Proceedings of Dynamic Walking 2017, 2017 (inproceedings)

[BibTex]

2017

Heim, S., Grimminger, F., Drama, Ö., Spröwitz, A. Linking Mechanics and Learning In Proceedings of Dynamic Walking 2017, 2017 (inproceedings)

[BibTex]

2016

Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

Herzog, A., Rotella, N., Mason, S., Grimminger, F., Schaal, S., Righetti, L.

Autonomous Robots, 40(3):473-491, 2016 (article)

Abstract

Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled humanoid where model inaccuracies, sensor noise and real-time computation requirements can be problematic. Using a reformulation of existing algorithms, we propose a simplification of the problem that allows to achieve real-time control. Momentum-based control is integrated in the task hierarchy and a LQR design approach is used to compute the desired associated closed-loop behavior and improve performance. Extensive experiments on various balancing and tracking tasks show very robust performance in the face of unknown disturbances, even when the humanoid is standing on one foot. Our results demonstrate that hierarchical inverse dynamics together with momentum control can be efficiently used for feedback control under real robot conditions.

link (url) DOI [BibTex]

2016

Herzog, A., Rotella, N., Mason, S., Grimminger, F., Schaal, S., Righetti, L. Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid Autonomous Robots, 40(3):473-491, 2016 (article)

link (url) DOI [BibTex]

2014

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

Herzog, A., Righetti, L., Grimminger, F., Pastor, P., Schaal, S.

In 2014 IEEE/RSJ Conference on Intelligent Robots and Systems, pages: 981-988, IEEE, Chicago, USA, 2014 (inproceedings)

Abstract

Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a torque controlled robot where model inaccuracies and real-time computation requirements can be problematic. In this contribution we present an experimental evaluation of these algorithms in the context of balance control for a humanoid robot. The presented experiments demonstrate the applicability of the approach under real robot conditions (i.e. model uncertainty, estimation errors, etc). We propose a simplification of the optimization problem that allows us to decrease computation time enough to implement it in a fast torque control loop. We implement a momentum-based balance controller which shows robust performance in face of unknown disturbances, even when the robot is standing on only one foot. In a second experiment, a tracking task is evaluated to demonstrate the performance of the controller with more complicated hierarchies. Our results show that hierarchical inverse dynamics controllers can be used for feedback control of humanoid robots and that momentum-based balance control can be efficiently implemented on a real robot.

link (url) DOI [BibTex]

2014

Herzog, A., Righetti, L., Grimminger, F., Pastor, P., Schaal, S. Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics In 2014 IEEE/RSJ Conference on Intelligent Robots and Systems, pages: 981-988, IEEE, Chicago, USA, 2014 (inproceedings)

link (url) DOI [BibTex]

2012

An adaptive sensor foot for a bipedal and quadrupedal robot

Fondahl, K., Kuehn, D., Beinersdorf, F., Bernhard, F., Grimminger, F., Schilling, M., Stark, T., Kirchner, F.

In 2012 4th IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pages: 270-275, June 2012 (inproceedings)

Felix Grimminger

Rapid Prototyping Coordinate System

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