David Rohr

Papers

Total Citations

199

H-Index

About

David Rohr is a leading researcher in the field of dynamic, wheeled-legged robotics, with a core focus on whole-body control and trajectory optimization for highly agile systems. His most influential work, cited over 179 times, introduces a hierarchical controller for the Ascento robot that leverages full rigid-body dynamics and closed-form expressions for kinematic loops, enabling unprecedented stability and maneuverability in a wheeled biped. Rohr’s contributions are critical for bridging the gap between theoretical control and practical, high-speed locomotion. More recently, his 2023 paper on nonsmooth trajectory optimization tackles the formidable challenge of enabling wheeled balancing robots to overcome obstacles like stairs, addressing contact switches and impacts directly. This work represents a significant step toward closing the gap in efficient control algorithms for complex terrains. By combining rigorous analytical derivations with real-world implementation, Rohr’s research is shaping the next generation of versatile, dynamic robots capable of navigating both flat surfaces and challenging environments, making him a key figure in advancing the practical utility of wheeled-legged platforms.