Ingmar Schwarz

Universidade Federal de Minas Gerais, TU Dortmund University

Papers

Total Citations

H-Index

About

Ingmar Schwarz is a robotics researcher whose work centers on cost-effective bipedal locomotion and real-time vision systems for humanoid robots. His most impactful contribution is the **Flexible Linear Inverted Pendulum Model (FLIPM)** , a refined control framework that preserves the simplicity and linearity of the classic LIPM while accommodating the mechanical compliance and sensor noise typical of affordable robots. This model, detailed in his 2015 paper (14 citations), enables stable walking on platforms that would otherwise be difficult to control, directly addressing a key barrier to accessible humanoid robotics. He further extended this work in 2017 (4 citations) with a boundedness approach to gait planning, ensuring robust step placement. Beyond locomotion, Schwarz developed a **robust, calibration-free vision system** (10 citations) designed for the RoboCup Standard Platform League. This system offers real-time performance and resilience to lighting changes, providing a ready-to-use solution for the research community. Together, these contributions demonstrate a clear focus on creating practical, deployable algorithms that lower the entry barrier for humanoid robotics research and competition.