Kirill Van Heerden

A combination of particle swarm optimization and model predictive control on graphics hardware for real-time trajectory planning of the under-actuated nonlinear Acrobot

Atsuo Kawamura, Kirill Van Heerden, Yatsutaka Fujimoto, 2014, 2014 IEEE 13th International Workshop on Advanced Motion Control (AMC).

Planning COM trajectory with variable height and foot position with reactive stepping for humanoid robots

Kirill Van Heerden, 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

Ground Reaction Force Reduction of Biped Robot for Walking Along a Step with Dual Length Linear Inverted Pendulum Method

Atsuo Kawamura, Naoki Motoi, Fariz Ali, 2013, J. Robotics Mechatronics.

Towards integrated walking and jumping motion planning in complex environments: Jumping trajectory generation

Atsuo Kawamura, Kirill Van Heerden, 2012, 2012 12th IEEE International Workshop on Advanced Motion Control (AMC).

Force-Sensorless Fault Tolerant Detection and Switching Control of Tendon-Driven Mechanisms With Redundant Tendons

Kirill Van Heerden, Ryuta Ozawa, Kiichi Suehiro, 2017, IEEE Robotics and Automation Letters.

Real-Time Variable Center of Mass Height Trajectory Planning for Humanoids Robots

Kirill Van Heerden, K. V. Heerden, 2017, IEEE Robotics and Automation Letters.

Landing trajectory generation for bipedal jumping motion

Atsuo Kawamura, Kirill Van Heerden, Yukihisa Takaoka, 2010, 2010 11th IEEE International Workshop on Advanced Motion Control (AMC).

Safe bilateral operation of a humanoid robot’s arm’s

Kirill Van Heerden, 2014 .

Biped Robot Position Control with Stability-Based Ground Reaction Force and Velocity Constraints

Atsuo Kawamura, Kirill Van Heerden, A. Kawamura, 2012 .

Humanoid robot trajectory generator for safe haptic arm control via arm wrench limitation, trajectory compensation and reactive stepping

Atsuo Kawamura, Kirill Van Heerden, 2015, Adv. Robotics.