Robotics Research Lab

M. Sc. Patrick Vonwirth

Contact

Room 48-361

Tel.: +49 631 205 3070

e-mail: patrick.vonwirth(at)rptu.de

Socials

Vita

Patrick Vonwirth has studied computer science at the Technische Universität Kaiserslautern. During his studies he focused on software-engineering and robotics research, especially in the fields of humanoid robotics and artificial locomotion. With his master thesis 'Modular Control Architecture for Bipedal Walking on a Single Compliant Leg', he finished his regular studies and starts to continue and deepen his research as a PhD student in the Robotics Research Lab.

His research interests are located in the field of humanoid robotics, focusing on bio- and physiologically-inspired actuations systems, control architectures and behaviors of bipedal robots.

2023

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  • Bio-Inspired Imprecise Impedance Control of Muscle-Driven Robotic Limbs.
    Patrick Vonwirth and Karsten Berns
    Robotics in Natural Settings, Vol. 530, S. 42 - 53. (2023)
  • Muscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision.
    Patrick Vonwirth and Karsten Berns
    Sensors, Vol. 23, Nr. 5, (2023)

2022

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  • Continuous Inverse Kinematics in Singular Position.
    Patrick Vonwirth and Karsten Berns
    Robotics for Sustainable Future, Vol. 324, S. 24 - 36. (2022)

2020

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  • Biologically Inspired Bipedal Locomotion - From Control Concept to Human-Like Biped.
    Patrick Vonwirth, Atabak Nejadfard and Karsten Berns
    Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings”, S. 3 - 14. (2020)
  • SLIP-Based Concept of Combined Limb and Body Control of Force-Driven Robots.
    Patrick Vonwirth, Atabak Nejadfard, Krzysztof Mianowski and Karsten Berns
    Advances in Service and Industrial Robotics, Vol. 84, S. 547 - 556. (2020)
  • Technical Advantages and Disadvantages of Biarticular Actuators in Bipedal robots.
    Atabak Nejadfard, Karsten Berns and Patrick Vonwirth
    Robots in Human Life – Proceedings of the 23rd International Conference on Climbing and Walking Robots and the support Technologies for Mobile Machines, S. 166 - 174. (2020)

2019

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  • Design of the musculoskeletal leg CARL based on the physiology of mono-articular and biarticular muscles in the human leg.
    Atabak Nejadfard, Steffen Sch"utz, Krzysztof Mianowski, Patrick Vonwirth and Karsten Berns
    Bioinspiration & biomimetics, Vol. 14, Nr. 6, S. 066002. (2019)

2018

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  • Coordination of the Biarticular Actuators Based on Instant Power in an Explosive Jump Experiment.
    Atabak Nejadfard, Steffen Schütz, Patrick Vonwirth, Krzysztof Mianowski and Karsten Berns
    IEEE International Conference on Advanced Intelligent Mechatronics (AIM), (2018)
  • Moment Arm Analysis of the Biarticular Actuators in Compliant Robotic Leg CARL.
    Atabak Nejadfard, Steffen Schütz, Patrick Vonwirth, Krzysztof Mianowski and Berns Karsten
    Conference on Biomimetic and Biohybrid Systems, S. 348 - 360. (2018)

2017

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  • CARL – A Compliant Robotic Leg Featuring Mono- and Biarticular Actuation.
    Steffen Schütz, Atabak Nejadfard, Krzysztof Mianowski, Patrick Vonwirth and Karsten Berns
    IEEE-RAS International Conference on Humanoid Robots, S. 289 - 296. (2017)
  • Modular Control Architecture for Bipedal Walking on a Single Compliant Leg.
    Patrick Vonwirth
    (2017)

Publications

2024

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  • FPGA-Based Emulation of a Muscle Stretch Reflex on an Electric Series Elastic Actuator.
    Oleksandr Sivak, Patrick Vonwirth and Karsten Berns
    Synergetic Cooperation between Robots and Humans, Vol. 811, S. 299 - 310. (2024)
  • Foundations of Probabilistic Behavior Networks Aiming for Structured, Distributed Control of Complex Systems like Legged Robots.
    Patrick Vonwirth, Oleksandr Sivak and Karsten Berns
    2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), S. 593 - 598. (2024)
  • Intuitive Motion. Acceleration-based Inverse Kinematics on Arbitrary Coordinates.
    Patrick Vonwirth, Axel Vierling, Oleksandr Sivak and Karsten Berns
    Walking Robots into Real World, Vol. 1, S. 239 - 251. (2024)
  • Lightweight Human-Like Robotic Leg with Four-Bar Mechanism Joints.
    Oleksandr Sivak, Krzysztof Mianowski, Patrick Vonwirth and Karsten Berns
    Walking Robots into Real World, Vol. 1, S. 255 - 265. (2024)
  • Modern Methods of Designing and Producing Elements for Walking Robots Working in Highly Dynamic Conditions.
    Krzysztof Mianowski, Karsten Berns, Patrick Vonwirth and Oleksandr Sivak
    Walking Robots into Real World, Vol. 2, S. 107 - 118. (2024)