Francisco Javier Andrade Chavez
Papers
7
Total Citations
56
H-Index
4
About
Francisco Javier Andrade Chavez is a leading researcher in humanoid robotics, specializing in control architectures for dynamic locomotion and whole-body manipulation. His work centers on torque-controlled humanoid robots, with key contributions to Divergent Component of Motion (DCM)-based trajectory planning, force-torque sensor calibration, and robust contact control. His most cited paper (2019, 20 citations) benchmarks DCM architectures for position, velocity, and torque-controlled humanoids, establishing a framework for stable bipedal locomotion. He also developed a model-based in situ calibration method for six-axis force torque sensors (2019, 13 citations), enabling precise dynamic performance in floating-base robots. His jerk control approach (2020, 12 citations) addresses discontinuities in quadratic programming-based controllers by integrating contact-stable force feedback. Notable achievements include an online DCM trajectory generation method for push recovery (2019) and a standardized benchmark for humanoid whole-body manipulation (2022). Andrade Chavez’s work bridges theoretical control and practical implementation, advancing humanoid robots’ ability to perform complex, contact-rich tasks with reliability and agility.
Research Focus
Key Achievements
Top Papers
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- 4Model based in situ calibration of six axis force torque sensors4 citations · 2016
- 5Whole-Body Geometric Retargeting for Humanoid Robots3 citations · 2019
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- 7A Standardized Benchmark for Humanoid Whole-Body Manipulation2 citations · 2022