Albertus Hendrawan Adiwahono

About

Albertus Hendrawan Adiwahono is a leading roboticist whose work bridges autonomous exploration, legged locomotion, and mobile manipulation. His research focuses on enabling robots to navigate and operate safely in complex, unstructured environments—from unknown terrain to indoor human spaces. His most influential work, “An Improved Frontier-Based Approach for Autonomous Exploration” (68 citations), introduced a more efficient method for robots to map unknown spaces by intelligently selecting exploration frontiers. He has also made foundational contributions to bipedal and wheeled-legged robot control, including a walking pattern generator for uneven terrain (28 citations) and a hierarchical control framework for hybrid locomotion (31 citations). Adiwahono’s work on push recovery for humanoid robots (11+ citations) has advanced robot stability and resilience, while his recent research integrates vision and terrain probing for safe legged navigation (17 citations). His state estimation framework for hybrid robots performing mobile manipulation (12 citations) further demonstrates his impact on real-world robotic systems. With over 200 total citations across his most-cited works, Adiwahono continues to shape the future of autonomous mobile robots capable of navigating and interacting with the physical world.

Research Focus

Key Achievements

Top Papers

1. 1
   An improved Frontier-Based Approach for Autonomous Exploration

   68 citations · 2018
2. 2
   Towards More Possibilities: Motion Planning and Control for Hybrid Locomotion of Wheeled-Legged Robots

   31 citations · 2020
3. 3
   A walking pattern generator for biped robots on uneven terrains

   28 citations · 2010
4. 4
   A GJK-based approach to contact force feasibility and distribution for multi-contact robots

   22 citations · 2011
5. 5
   Traversability analysis with vision and terrain probing for safe legged robot navigation

   17 citations · 2022
6. 6
   Automated door opening scheme for non-holonomic mobile manipulator

   13 citations · 2013
7. 7
   State Estimation for Hybrid Wheeled-Legged Robots Performing Mobile Manipulation Tasks

   12 citations · 2021
8. 8
   Autonomous stair identification, climbing, and descending for tracked robots

   11 citations · 2014
9. 9
   Humanoid robot push recovery through walking phase modification

   11 citations · 2010
10. 10
    Push recovery controller for bipedal robot walking

    11 citations · 2009

Key Collaborators

Contact & Links