Mathias Bachmayer

Papers

Total Citations

133

H-Index

About

Mathias Bachmayer is a leading researcher in robotics and control systems, with a primary focus on real-time motion generation, vision systems, and elastic robot dynamics. His most influential work, "A collocation method for real-time walking pattern generation" (2007, 99 citations), introduced a groundbreaking approach to bipedal locomotion by combining quadratic programming with spline collocation to compute center-of-mass trajectories and reference torque patterns in real time—a critical advancement for humanoid robots. Bachmayer also developed a multi-focal high-performance vision system (2006, 27 citations) that surpasses human capabilities, offering independently controllable wide-angle and foveated views for rapid, precise visual tracking. His research on elastic robots, including "Numerical approaches for residual vibration free positioning" (2009, 5 citations) and "Acceleration of linearly actuated elastic robots avoiding residual vibrations" (2011, 2 citations), addresses the challenge of balancing speed and precision by incorporating structural flexibility into control design, reducing the need for heavier, stiffer components. These contributions have advanced real-time control and perception in robotics, with his walking pattern generator remaining a foundational reference for researchers in humanoid locomotion and dynamic systems.