Johannes Englsberger

About

Johannes Englsberger is a prominent robotics researcher whose work has fundamentally shaped the field of humanoid robot locomotion and whole-body control. Best known for developing and extending the **Divergent Component of Motion (DCM)** framework — also known as the Capture Point concept — his research provides mathematically elegant solutions for stable bipedal walking. His landmark 2015 paper extending DCM to three dimensions, introducing the Enhanced Centroidal Moment Pivot point (eCMP) and Virtual Repellent Point (VRP), has accumulated over 364 citations and remains a cornerstone reference in legged robotics. Englsberger has contributed significantly to both theoretical foundations and real-world robot platforms. His work on the torque-controlled humanoid TORO (279 citations) and the momentum-based control framework applied to Boston Dynamics' Atlas robot (255 citations) demonstrate his ability to bridge elegant theory with practical implementation. His involvement in winning the DARPA Virtual Robotics Challenge with Team IHMC further highlights his competitive excellence. More recently, his contributions to deploying humanoid robots in Airbus aircraft manufacturing underscore the real-world industrial relevance of his research. With over 1,700 cumulative citations, Englsberger's body of work continues to influence a generation of roboticists tackling the formidable challenge of dynamic, stable humanoid locomotion.

Research Focus

Key Achievements

Top Papers

1. 1
   Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion

   364 citations · 2015
2. 2
   Overview of the torque-controlled humanoid robot TORO

   279 citations · 2014
3. 3
   Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas

   255 citations · 2016
4. 4
   Bipedal walking control based on Capture Point dynamics

   250 citations · 2011
5. 5
   Bipedal walking control based on Capture Point dynamics

   132 citations · 2011
6. 6
   Three-dimensional bipedal walking control using Divergent Component of Motion

   131 citations · 2013
7. 7
   Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases

   94 citations · 2019
8. 8
   Summary of Team IHMC's virtual robotics challenge entry

   86 citations · 2013
9. 9
   Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control

   71 citations · 2019
10. 10
    Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking

    65 citations · 2012

Key Collaborators

Contact & Links