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Alexander Herzog studied Computer-Science at the  Karlsruhe Institute of Technology, in Germany. He visited the CLMC Laboratory in 2011, where he worked on the problem of grasp planning for his diploma thesis. After receiving his Diploma in the same year, Alexander joined the Autonomous Motion Laboratory at the  Max-Planck Institute for Intelligent Systems in 2012. His research interests include contact interaction in whole-body control and grasping for humanoids.

Research Interests:

Grasping and Manipulation, Biped Locomotion, Whole-Body Control, Robot Learning


aherzog AT tuebingen DOT mpg DOT de


(213) 821 6717


Template-Based Learning of Grasp Selection:


Rotella, N.; Herzog, A.;Schaal, S.;Righetti, L.; (2015). Humanoid momentum estimation using sensed contact wrenches, 2015 International Conference on Humanoid Robots (Talk)
[Keywords: humanoid robotics, state estimation, sensor fusion]
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Rotella, N.; Herzog, A.; Schaal, S.; Righetti, L. (2015). Momentum Planning, Estimation and Control for Force-Centric Bipedal Locomotion, Dynamic Walking 2015 (Talk, Poster)
[Keywords: humanoid robot, model predictive control, state estimation, force control]
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Herzog, A; Rotella, N; Schaal, S; Righetti, L (2015). Trajectory generation for multi-contact momentum-control, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on
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Herzog, A; Rotella, N; Mason, S; Grimminger, F; Schaal, S; Righetti, L (2015). Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid, Autonomous Robots
[Keywords: Whole-Body Control, Multi-Contact Interaction, Hierarchical Control, Inverse Dynamics, Force Control]
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Herzog, A.; Pastor, P.; Kalakrishnan, M.; Righetti, L.; Bohg, J.; Asfour, T.; Schaal, S. (2014). Learning of Grasp Selection based on Shape-Templates, Autonomous Robots, 36, 1-2, pp.51-65, Springer US
[Keywords: Model-free Grasping; Grasp Synthesis; Template Learning]
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Herzog, A.;Righetti, L.;Grimminger, F.;Schaal, S. (2014). Experiments with Hierarchical Inverse Dynamics Controllers on a Torque Controlled Humanoid, Proceedings of Dynamic Walking
[Keywords: balancing, humanoid robotics, optimal control, QP]
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Bohg, J.;Romero, J.;Herzog, A.;Schaal, S. (2014). Robot Arm Pose Estimation through Pixel-Wise Part Classification, Proceedings of the IEEE International Conference on Robotics and Automation
[Keywords: Computer vision, RGB-D perception, visual servoing]
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Herzog, A.;Righetti, L.;Grimminger, F.;Pastor, P.;Schaal, S. (2014). Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics, Proceedings of the IEEE International Conference on Intelligent Robotics Systems
[Keywords: contact interaction, humanoid robotics, inverse dynamics, torque control, whole body control]
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Herzog, A; Righetti, L; Grimminger, F; Pastor, P; Schaal, S (2013). Experiments with a hierarchical inverse dynamics controller on a torque-controlled humanoid, Arxiv preprint arXiv:1305.2042
[Keywords: hierarchical control, inverse dynamics, locomotion, balance control, biped, contact interaction]
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Herzog, A.;Pastor, P.;Kalakrishnan, M.;Righetti, L.;Asfour, T.;Schaal, S. (2012). Template-based learning of grasp selection, Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp.2379-2384
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Page last modified on May 29, 2015, at 11:43 AM