Papers
4
Total Citations
473
H-Index
4
About
Andrei Herdt is a leading figure in humanoid robotics, renowned for his pioneering work in bipedal locomotion and model predictive control (MPC). His research focuses on enabling robots to walk with unprecedented stability and autonomy, moving beyond pre-programmed steps to truly dynamic, adaptive motion. Herdt’s most impactful contribution is his 2010 paper, “Online Walking Motion Generation with Automatic Footstep Placement,” which has garnered over 330 citations. In this seminal work, he demonstrated that a minimal modification to existing MPC schemes allows for the real-time generation of stable walking patterns without predefined footsteps, a breakthrough that fundamentally advanced the field. He further expanded on this concept in “Walking without thinking about it” (125 citations), introducing algorithms for natural foot and trunk orientation control, enabling robots to turn fluidly. Herdt also explored vision-based control, integrating on-board camera feedback to close the loop between perception and action, as detailed in his 2011 work. His contributions have established a foundation for more autonomous, responsive humanoid robots, making him a key innovator in the quest for machines that can navigate complex, unstructured environments.
Research Focus
Key Achievements
Top Papers
- 1Online Walking Motion Generation with Automatic Footstep Placement330 citations · 2010
- 2Walking without thinking about it125 citations · 2010
- 3Vision based control for Humanoid robots13 citations · 2011
- 4Model predictive control of a humanoid robot5 citations · 2012