Publications

An open torque-controlled modular robot architecture for legged locomotion research

IEEE Robotics and Automation Letters, 2020
Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Fiene Fiene, Alexander Badri-Spröwitz, Ludovic Righetti

A little damping goes a long way: a simulation study of how damping influences task-level stability in running

Royal Society Biology Letters, 2020
Steve Heim, Matthew Millard, Charlotte Le, Alexander Badri-Spröwitz

Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics

IEEE Transactions on Robotics (T-RO), 2019
Steve Heim, Alexander Spröwitz

A Learnable Safety Measure

In the proceedings of Proceedings of The 3rd Conference on Robot Learning (CoRL), 2019
Steve Heim, Alexander Rohr, Sebastian Trimpe, Alexander Badri-Spröwitz

Learning from outside the viability kernel: Why we should build robots that can fall with grace

International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018
Steve Heim, Alexander Spröwitz

Shaping in Practice: Training Wheels to Learn Fast Hopping Directly in Hardware

2018 International Conference on Robotics and Automation (ICRA), 2018
Steve Heim, Felix Ruppert, Alborz Sarvestani, Alexander Spröwitz

On designing an active tail for legged robots: simplifying control via decoupling of control objectives

Industrial Robot: An International Journal, 2016
Steve Heim, Mostafa Ajallooeian, Peter Eckert, Massimo Vespignani, Auke Ijspeert

On designing an active tail for body-pitch control in legged robots via decoupling of control objectives

International Conference on Climbing and Walking Robots (CLAWAR), 2015
Steve Heim, Mostafa Ajallooeian, Peter Eckert, Massimo Vespignani, Auke Ijspeert