Staff
DLR German Aerospace Center
Institute of Robotics and Mechatronics
Robert Schuller received his M. Sc. in mechanical engineering from the Technical University of Munich (TUM) in 2020. He joined the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR) as research scientist in 2020. His professional is about humanoid robots, legged locomotion and whole-body control.
In case you are interested in an intership or writing a thesis in one of the topics of my research area, please write me a short mail describing your motivation and academic background.
Publications
Journal papers
[J1] Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, and Christian Ott, "Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery," IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 3, pp. 5689-5696, July 2021. [ PDF@IEEEXplore ]
Conference papers
[C1] Johannes Englsberger, Alessandro M. Giordano, Achraf Hiddane, Robert Schuller, Florian Loeffel, George Mesesan, Christian Ott, "From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness", in Proc. of the 20th IEEE-RAS International Conference on Humanoid Robots, Munich, Germany, July 2021. [ Draft ]
[C2] Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, and Christian Ott, "Online Learning of Centroidal Angular Momentum Towards Enhancing DCM-Based Locomotion", in Proc. of the IEEE International Conference on Robotics and Automation, 10442-10448, Philadelphia, USA, Mai 2022 [ PDF@IEEEXplore ].
[C3] Jean-Pascal Lutze, Robert Schuller, Hrishik Mishra, Ismael Rodriguez and Maximo A. Roa, "Optimization of multi-arm robot locomotion to reduce satellite disturbances during in-orbit assembly", in Proc. of the IEEE Aerospace Conference, 1-11, Big Sky, MT, USA, Mai 2022 [ PDF@IEEEXplore ].
Patents
[P1] Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, ChristianOtt, "Verfahren zur Balancierung eines Roboters....", German patent application no. 10 2021112 485.9, filed on Mai 12, 2021.
[P2] Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, ChristianOtt, "Verfahren zur Gangsteuerung eines Roboters....", German patent application no. 10 2022 107 587.7, filed on March 30, 2022 (under review).
Miscellaneous
[M2] Robert Schuller, "Whole-body Motion Planning and Control of Angular Momentum Tasks in Humanoid Robots," Master's thesis, Technical University Munich, May 2020. [ PDF@ELIB ]
[M1] Robert Schuller, "Torque Control of a New Lightweight Actuator Module for Robotic Applications," Term paper, Technical University Munich, Sep. 2019. [ PDF@ELIB ]
Multimedia
[C2] Gait generation frameworks for humanoid robots typically assume a constant centroidal angular momentum (CAM) throughout the walking cycle, which induces undesirable contact torques in the feet and results in performance degradation. In this work, we present a novel algorithm to learn the CAM online and include the obtained knowledge within the closed-form solutions of the Divergent Component of Motion (DCM) locomotion framework. To ensure a reduction of the contact torques at the desired center of pressure position, a CAM trajectory is generated and explicitly tracked by a wholebody controller.
[J1] This video presents a push recovery algorithm for humanoid robots in balancing scenarios by exploiting the system’s rotational dynamics. The robot actively generates centroidal angular momentum (CAM) references based on the force magnitude and direction of the push to counteract the disturbance and maintain its balance.
This live demonstration was recorded during the virtual lab tour as part of the Humanoids conference 2020 in Munich. The video shows our humanoid robot TORO walking dynamically over compliant, elevated and rough terrain, as well as maintaining its balance in the presence of strong external pushes.