Johannes Englsberger

Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR) — Germany

Engineering · Physical Sciences

20h-index2.4kcitations61works0.22yr avg
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Research Topics

Robotic Locomotion and Control(55), Prosthetics and Rehabilitation Robotics(42), Robot Manipulation and Learning(11), Neurogenetic and Muscular Disorders Research(8), Robotic Mechanisms and Dynamics(6)

Publications61 total

Humanoid Robot Running Through Random Stepping Stones and Jumping Over Obstacles: Step Adaptation Using Spring-Mass Trajectories
arXiv (Cornell University)·2025Open Access
Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics
2025
Angular Divergent Component of Motion: A Step Towards Planning Spatial DCM Objectives for Legged Robots
2025
Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics
arXiv (Cornell University)·2025Open Access
Motion Planning for Humanoid Locomotion: Applications to Homelike Environments
IEEE Robotics & Automation Magazine·2025· 1 citedOpen Access
Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots
arXiv (Cornell University)·2024Open Access
Coriolis Factorizations and their Connections to Riemannian Geometry
arXiv (Cornell University)·2023Open Access
Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics
IEEE Robotics and Automation Letters·2023· 19 cited
Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases
2023· 4 cited
Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion
IEEE Transactions on Robotics·2023· 13 cited
Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study
2023· 10 cited
Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions
2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)·2022· 4 cited
Planning Natural Locomotion for Articulated Soft Quadrupeds
2022 International Conference on Robotics and Automation (ICRA)·2022· 5 cited
Online Learning of Centroidal Angular Momentum towards Enhancing DCM-based Locomotion
2022 International Conference on Robotics and Automation (ICRA)·2022· 8 cited
Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control
2021· 5 citedOpen Access
From Space to Earth – Relative-CoM-to-Foot (RCF) control yields high contact robustness
2021Open Access
Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery
IEEE Robotics and Automation Letters·2021· 32 cited
Practical consequences of inertia shaping for interaction and tracking in robot control
Control Engineering Practice·2021· 33 cited
Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion
2021· 18 citedOpen Access
MPTC – Modular Passive Tracking Controller for stack of tasks based control frameworks
2020· 10 citedOpen Access
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Frequent Co-authors

Christian Ott(44), Alin Albu‐Schäffer(18), George Mesesan(15), Máximo A. Roa(9), Bernd Henze(8), A. Werner(6), Gianluca Garofalo(6), Oliver Eiberger(5), Alexander Dietrich(5), Alexander Beyer(4), Sylvain Bertrand(4), Jerry Pratt(4), Pierre-Brice Wieber(4), Robert Schuller(4), Robert J. Burger(3), Twan Koolen(3), Jinoh Lee(3), Pawel Kozłowski(3), Werner Friedl(3), Daniel Leidner(3)