Lionel Gulich

Papers

Total Citations

422

H-Index

About

Lionel Gulich is a pioneering roboticist whose work centers on agile locomotion, wheeled bipedal robots, and whole-body control for dynamic environments. His major contributions include the development of **Ascento**, a groundbreaking two-wheeled jumping robot capable of navigating complex indoor terrains with unprecedented speed and agility. The foundational 2019 paper introducing Ascento has garnered **243 citations**, underscoring its impact on mobile robotics for inspection tasks. Gulich further advanced the field with his 2020 work on **LQR-assisted whole-body control**, which derived closed-form dynamics for kinematic loops in wheeled bipedal systems—a framework that generalizes to more complex robots. This paper, with **179 citations**, demonstrates his ability to bridge theoretical control theory and practical robot design. Notably, Gulich’s hierarchical controller integrates rolling constraints and full rigid-body dynamics, enabling robust performance in real-world scenarios. His achievements have positioned Ascento as a benchmark for agile, wheeled bipedal platforms, inspiring future research in high-speed locomotion and autonomous navigation. Gulich’s work remains essential reading for students and engineers exploring the frontier of dynamic, legged-wheeled hybrid robots.