Steve Heim
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An open torque-controlled modular robot architecture for legged locomotion research
F Grimminger, A Meduri, M Khadiv, J Viereck, M Wüthrich, M Naveau, ...
IEEE Robotics and Automation Letters 5 (2), 3650-3657, 2020
On designing an active tail for legged robots: simplifying control via decoupling of control objectives
SW Heim, M Ajallooeian, P Eckert, M Vespignani, AJ Ijspeert
Industrial Robot: An International Journal 43 (3), 338-346, 2016
Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics
S Heim, A Spröwitz
arXiv preprint arXiv:1806.08081, 2019
A Learnable Safety Measure
S Heim, A von Rohr, S Trimpe, A Badri-Spröwitz
Conference on Robot Learning (CoRL), 2019
A little damping goes a long way: a simulation study of how damping influences task-level stability in running
S Heim, M Millard, C Le Mouel, A Badri-Spröwitz
Biology letters 16 (9), 20200467, 2020
Shaping in practice: training wheels to learn fast hopping directly in hardware
S Heim, F Ruppert, AA Sarvestani, A Spröwitz
2018 IEEE International Conference on Robotics and Automation (ICRA), 5076-5081, 2018
On designing an active tail for body-pitch control in legged robots via decoupling of control objectives
SW Heim, M Ajallooeian, P Eckert, M Vespignani, A Ijspeert
ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on …, 2016
On exploration requirements for learning safety constraints
PF Massiani, S Heim, S Trimpe
Learning for Dynamics and Control, 905-916, 2021
Safe value functions
PF Massiani, S Heim, F Solowjow, S Trimpe
IEEE Transactions on Automatic Control, 2022
Learning from outside the viability kernel: Why we should build robots that can fall with grace
S Heim, A Spröwitz
2018 IEEE International Conference on Simulation, Modeling, and Programming …, 2018
Learning Fast and Precise Pixel-to-Torque Control: A Platform for Reproducible Research of Learning on Hardware
S Bleher, S Heim, S Trimpe
IEEE Robotics & Automation Magazine 29 (2), 75-84, 2022
Viability in State-Action Space: Connecting Morphology, Control, and Learning
S Heim
Universität Tübingen, 2020
Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive Control
C Khazoom, S Heim, D Gonzalez-Diaz, S Kim
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