Milan Anderle

About

Milan Anderle is a robotics researcher specializing in the control, sensor fusion, and mechanical design of underactuated walking robots. His work focuses on enabling stable, efficient locomotion in bipedal and multi-link systems with limited actuation—a key challenge in legged robotics. Anderle’s most cited paper (8 citations) presents a practical implementation of the Extended Kalman Filter for sensor fusion in a simple walking robot, addressing real-world data processing for nonlinear mechanical systems. He has also developed methods for generating stable walking gaits using virtual holonomic constraints, demonstrated on a three-link planar biped robot (4 citations). His experimental validations include controller implementation on a four-link laboratory walker and sensor fusion design for a two-degree-of-freedom underactuated robot. Notably, Anderle has proposed a novel "trainer" device for the kinematic analysis and future control of a five-link walking system without ankles (2022). His work bridges theoretical control strategies with practical mechatronic implementation, contributing foundational insights into the design and stabilization of underactuated walking machines.

Research Focus

Key Achievements

Top Papers

1. 1
   Sensor Fusion for simple walking robot using low-level implementation of Extended Kalman Filter

   8 citations · 2018
2. 2
   Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable

   4 citations · 2018
3. 3
   On the controller implementation in the real underactuated walking robot model

   3 citations · 2019
4. 4
   On the sensor fusion in the walking robots design

   3 citations · 2017
5. 5
   On the design and modeling of a trainer for the underactuated walking robot without ankles

   2 citations · 2022

Key Collaborators

Contact & Links