Publications

DEPARTMENTS

Emperical Interference

Haptic Intelligence

Modern Magnetic Systems

Perceiving Systems

Physical Intelligence

Robotic Materials

Social Foundations of Computation

Research Groups

Autonomous Vision

Autonomous Learning

Bioinspired Autonomous Miniature Robots

Dynamic Locomotion

Embodied Vision

Human Aspects of Machine Learning

Intelligent Control Systems

Learning and Dynamical Systems

Locomotion in Biorobotic and Somatic Systems

Micro, Nano, and Molecular Systems

Movement Generation and Control

Neural Capture and Synthesis

Physics for Inference and Optimization

Organizational Leadership and Diversity

Probabilistic Learning Group

Topics

Robot Learning

Conference Paper

2022

Autonomous Learning

Robotics

Career

Award

BibTeX

Intelligent Control Systems Robotics Article The Wheelbot: A Jumping Reaction Wheel Unicycle Geist, A. R., Fiene, J., Tashiro, N., Jia, Z., Trimpe, S. IEEE Robotics and Automation Letters, 7(4):9683-9690, IEEE, October 2022 (Published)

Abstract ›

Combining off-the-shelf components with 3D- printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This letter presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing.

DOI URL BibTeX

Intelligent Control Systems Article Learning Fast and Precise Pixel-to-Torque Control: A Platform for Reproducible Research of Learning on Hardware Bleher, S., Heim, S., Trimpe, S. IEEE Robotics & Automation Magazine, 29(2):75-84 , June 2022 (Published) DOI BibTeX

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