Papers
8
Total Citations
396
H-Index
5
About
H. Rehbinder is a leading figure in robotics and nonlinear control systems, best known for pioneering drift-free attitude estimation for accelerated rigid bodies—a critical challenge in legged locomotion. His most influential work, a 2004 paper with 229 citations, revolutionized how walking robots maintain orientation under abrupt acceleration changes by fusing gyroscope and accelerometer data. This breakthrough, alongside his 2002 study on nonlinear pitch and roll estimation (48 citations), introduced high-gain observers that guarantee exponential convergence, enabling stable gait control in dynamic environments. Rehbinder’s contributions extend to low-pass sensor state estimation (44 citations) and the mechanical-electronic design of the quadruped robot WARP1 (12 citations), a 60-kilogram platform with three actuators per leg that served as a testbed for his theories. His research bridges theoretical rigor and practical implementation, addressing limited communication control in nonlinear robotic systems. With a career spanning behavior-based control and quasi-linear observer methods, Rehbinder’s work has profoundly influenced modern legged robotics, providing foundational tools for autonomous systems that must navigate unpredictable terrain.
Research Focus
Key Achievements
Top Papers
- 1Drift-free attitude estimation for accelerated rigid bodies229 citations · 2004
- 2Drift-free attitude estimation for accelerated rigid bodies53 citations · 2002
- 3Nonlinear pitch and roll estimation for walking robots48 citations · 2002
- 4Nonlinear state estimation for rigid-body motion with low-pass sensors44 citations · 2000
- 5The basic design of the quadruped robot WARP112 citations · 2000
- 6
- 7Behavior-based Control of a Four Legged Walking Robot3 citations · 1998
- 8Drift-free Attitude Estimation Using Quasi-linear Observers2 citations · 2005