Michael Scheint
Papers
9
Total Citations
137
H-Index
6
About
Michael Scheint is a robotics researcher whose work centers on the control and design of bipedal robots and dynamic manipulation, with a particular focus on exploiting compliance and underactuation to achieve more natural, energy-efficient motion. His major contributions include pioneering the use of virtual holonomic constraints for bipedal walking during double support, a critical phase often neglected in gait design. He has also advanced the theory of invariance control for robotic applications, enabling safe trajectory supervision and haptic rendering. Scheint’s research demonstrates how compliant ankles and optimized parallel joint springs can significantly reduce the cost of locomotion in bipedal robots, drawing inspiration from human biomechanics. Beyond walking, he has explored dynamic manipulation skills for humanoid robots, including ball dribbling—a challenging task requiring stabilization of periodic motion under discrete-continuous dynamics. His most cited work, “Dynamic contact force/torque observer: Sensor fusion for improved interaction control” (37 citations), addresses the critical challenge of physical human-robot interaction. With a total of over 130 citations across his top papers, Scheint’s work bridges theoretical control methods and practical robotic design, offering valuable insights for researchers in legged locomotion and interactive robotics.
Research Focus
Key Achievements
Top Papers
- 1
- 2Effects of compliant ankles on bipedal locomotion31 citations · 2009
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- 8Optimal Control and Design of Bipedal Robots with Compliance5 citations · 2009
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