TY  - CHAP
A1  - Priede, Gareth
A1  - Ferrein, Alexander
T1  - Towards passive walking for the fully-actuated biped robot Nao
T2  - Emerging trends in computing, informatics, systems sciences, and engineering. (Lecture notes in electrical engineering : vol. 151)
N2  - Many biped robots deploy a form of gait that follows the zero moment point (ZMP) approach, that is, the robot is in a stable position at any point in time. This requires the robot to be fully actuated. While very stable, the draw-backs of this approach are a fairly slow gait and high energy consumption. An alternative approach is the so-called passive-dynamic walking, where the gait makes use of the inertia and dynamic stability of the robot. In this paper we describe our ongoing work of combining the principles of passive-dynamic walking on the fully-actuated biped robot Nao, which is also deployed for robotic soccer applications. We present a simple controller that allows the robot to stably rock sidewards, showing a closed limit-cycle. We discuss first results of superimposing a forward motion on the sidewards motion. Based on this we expect to endow the Nao with a fast, robust, and stable passive-dynamic walk on the fully-actuated Nao in the future.
Y1  - 2013
SN  - 978-1-4614-3557-0 ; 978-1-4614-3558-7
U6  - http://dx.doi.org/10.1007/978-1-4614-3558-7_18
SP  - 225
EP  - 236
PB  - Springer
CY  - New York, NY
ER  - 
TY  - CHAP
A1  - Niemüller, Tim
A1  - Ewert, Daniel
A1  - Reuter, Sebastian
A1  - Karras, Ulrich
A1  - Ferrein, Alexander
T1  - Towards benchmarking cyber-physical systems in factory automation scenarios
T2  - KI 2013: advances in artificial intelligence : 36th Annual German Conference on AI, Koblenz, Germany, September 16-20, 2013 ; proceedings / Ingo J. Timm ... (ed.). (Lecture notes in computer science ; 8077)
Y1  - 2013
SN  - 978-3-642-40941-7
SP  - 296
EP  - 299
PB  - Springer
CY  - Berlin [u.a.]
ER  - 
TY  - CHAP
A1  - Niemüller, Tim
A1  - Ewert, Daniel
A1  - Reuter, Sebastian
A1  - Ferrein, Alexander
A1  - Jeschke, Sabina
A1  - Lakemeyer, Gerhard
T1  - The Carologistics RoboCup Logistics Team 2013
T2  - RoboCup 2013 : Eindhoven
Y1  - 2013
SP  - 1
EP  - 8
ER  - 
TY  - CHAP
A1  - Gligorevic, Snjezana
T1  - Stochastic modeling of non-stationary channels
T2  - 7th European Conference on Antennas and Propagation (EuCAP) : 8 - 12 April 2013, Gothenburg, Sweden
Y1  - 2013
SN  - 978-1-4673-2187-7 ; 978-88-907018-1-8
SP  - 1677
EP  - 1681
PB  - IEEE
CY  - Piscataway, NJ
ER  - 
TY  - JOUR
A1  - Umutlu, Lale
A1  - Kraff, Oliver
A1  - Fischer, Anja
A1  - Kinner, Sonja
A1  - Maderwald, Stefan
A1  - Nassenstein, Kai
A1  - Nensa, Felix
A1  - Grüneisen, Johannes
A1  - Orzada, Stephan
A1  - Bitz, Andreas
A1  - Forsting, Michael
A1  - Ladd, Mark E.
A1  - Lauenstein, Thomas C.
T1  - Seven-Tesla MRI of the female pelvis
JF  - European Radiology
Y1  - 2013
U6  - http://dx.doi.org/10.1007/s00330-013-2868-0
SN  - 1432-1084
VL  - 23
IS  - 9
SP  - 2364
EP  - 2373
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Bitz, Andreas
A1  - Kobus, Thiele
A1  - Scheenen, Tom W. J.
A1  - Ladd, Mark E.
T1  - RF Safety of the Combination of a 31P Tx/Rx Endorectal Coil & a 1H Tx/Rx Body Array for 31P MRSI of the Prostate at 7T (311.)
T2  - 20th Annual ISMRM scientific meeting and exhibition 2012 : Melbourne, Australia, 5 - 11 May 2012
Y1  - 2013
SN  - 978-1-62276-943-8
SN  - 1545-4428
IS  - Volume 1
SP  - 311
PB  - Curran
CY  - Red Hook, NY
ER  - 
TY  - BOOK
A1  - Bochmann, Sandra
A1  - Ritz, Thomas
T1  - Prototyping tools for mobile applications
Y1  - 2013
SN  - 978-3-943356-45-8
PB  - Steinbeis-Ed.
CY  - Stuttgart
ER  - 
TY  - JOUR
A1  - Niemüller, Tim
A1  - Lakemeyer, Gerhard
A1  - Ferrein, Alexander
A1  - Reuter, S.
A1  - Ewert, D.
A1  - Jeschke, S.
A1  - Pensky, D.
A1  - Karras, Ulrich
T1  - Proposal for advancements to the LLSF in 2014 and beyond
Y1  - 2013
SP  - Publ. online
ER  - 
TY  - JOUR
A1  - Kraff, Oliver
A1  - Wrede, Karsten H.
A1  - Schoemberg, Tobias
A1  - Dammann, Philipp
A1  - Noureddine, Yacine
A1  - Orzada, Stephan
A1  - Ladd, Mark E.
A1  - Bitz, Andreas
T1  - MR safety assessment of potential RF heating from cranial fixation plates at 7 T
JF  - Medical Physics
Y1  - 2013
U6  - http://dx.doi.org/10.1118/1.4795347
SN  - 2473-4209
VL  - 40
IS  - 4
SP  - 042302-1
EP  - 042302-10
PB  - Wiley
CY  - Hoboken
ER  - 
TY  - JOUR
A1  - Orzada, Stephan
A1  - Johst, Sören
A1  - Maderwald, Stefan
A1  - Bitz, Andreas
A1  - Solbach, Klaus
A1  - Ladd, Mark E.
T1  - Mitigation of B1(+) inhomogeneity on single-channel transmit systems with TIAMO
JF  - Magnetic Resonance in Medicine
Y1  - 2013
U6  - http://dx.doi.org/10.1002/mrm.24453
SN  - 1522-2594
VL  - 70
IS  - 1
SP  - 290
EP  - 294
PB  - Wiley
CY  - Weinheim
ER  -