Marion Sobotka
Papers
11
Total Citations
123
H-Index
7
About
Marion Sobotka is a leading researcher in the field of bipedal locomotion, focusing on the intersection of robotics, control theory, and biomechanics. Her work centers on developing energy-efficient walking robots by integrating compliant elements, such as elastic ankles and parallel joint springs, into robotic designs. Sobotka’s major contributions include adapting the concept of hybrid zero dynamics to model multi-phase gaits—incorporating heel roll, full actuation, and toe roll—and extending virtual holonomic constraints to double support phases, which address closed kinematic chains and redundancy. Her research has garnered significant attention, with her most-cited paper, "Effects of compliant ankles on bipedal locomotion" (2009), accumulating 31 citations, and her work on virtual holonomic constraints (2009) earning 20 citations. Notably, her doctoral thesis (2007) on hybrid dynamical systems for variable ground contact laid foundational insights for robotic foot-edge rotation. Sobotka has also explored diverse applications, from robot basketball dribbling to human trajectory formation in virtual environments. Her innovative use of invariance control for balance and optimization of parallel springs demonstrates a commitment to bridging simulation and experiment, making her a pivotal figure in advancing legged robot efficiency and stability.
Research Focus
Key Achievements
Top Papers
- 1Effects of compliant ankles on bipedal locomotion31 citations · 2009
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- 4Robot Basketball: Ball Dribbling — A Modified Juggling Task12 citations · 2009
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- 6Invariance controlled balance of legged robots9 citations · 2007
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- 9A HYBRID MECHATRONIC TILTING ROBOT: MODELING, TRAJECTORIES, AND CONTROL5 citations · 2005
- 10Optimal Control and Design of Bipedal Robots with Compliance5 citations · 2009