Felix Allmendinger
Papers
10
Total Citations
181
H-Index
6
About
Felix Allmendinger is a leading researcher in the fields of bipedal locomotion, physical human-robot interaction (pHRI), and task-constrained robot control. His work addresses fundamental challenges in making robots safer and more adaptable when working alongside humans. A standout contribution is his comprehensive 2013 review on biped robot modeling and stability, which has garnered 41 citations and serves as a foundational resource for researchers in humanoid robotics. Allmendinger has made significant strides in coordinate-invariant control, notably developing energy budgets for pHRI safety certification (35 citations) and algorithms that shape impedances to comply with constrained task dynamics (31 citations). His 2019 paper on the influence of coordinates in robotic manipulability analysis (29 citations) has been particularly influential, reshaping how researchers think about task representation. More recently, he has advanced constraint-based programming for multi-robot systems and time-invariant motion controllers that allow full human interactivity. With over 180 total citations across his publications, Allmendinger’s work is essential reading for anyone interested in the intersection of human safety, task prioritization, and robotic autonomy.
Research Focus
Key Achievements
Top Papers
- 1Modeling, stability and walking pattern generators of biped robots: a review41 citations · 2013
- 2
- 3Shaping Impedances to Comply With Constrained Task Dynamics31 citations · 2022
- 4The influence of coordinates in robotic manipulability analysis29 citations · 2019
- 5Physical Human-Robot Interaction under Joint and Cartesian Constraints19 citations · 2019
- 6
- 7
- 8Time Invariant Motion Controller for Physical Human Robot Interaction5 citations · 2019
- 9Operational Space Formulation Under Joint Constraints4 citations · 2018
- 10