Christian Ott
Orcid: 0000-0003-0987-7493Affiliations:
- German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany
- University of Tokyo, Department of Mechano Informatics, Japan (2007 - 2009)
- Saarland University, Saarbrücken, Germany (PhD 2005)
According to our database1,
Christian Ott
authored at least 224 papers
between 2001 and 2024.
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Bibliography
2024
IEEE Robotics Autom. Lett., February, 2024
Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction.
IEEE Trans. Haptics, 2024
Impact Analysis for the Planning of Targeted Non-Slippage Impacts of Robot Manipulators.
IEEE Robotics Autom. Lett., 2024
Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstration.
CoRR, 2024
Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform.
CoRR, 2024
2023
Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion.
IEEE Trans. Robotics, December, 2023
Agile and Dynamic Standing-Up Control for Humanoids Using 3D Divergent Component of Motion in Multi-Contact Scenario.
IEEE Robotics Autom. Lett., September, 2023
IEEE Robotics Autom. Lett., July, 2023
Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications.
IEEE Trans. Robotics, April, 2023
IEEE Trans. Control. Syst. Technol., 2023
A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework.
IEEE Control. Syst. Lett., 2023
Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots.
IEEE Control. Syst. Lett., 2023
Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study.
IROS, 2023
Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks.
IROS, 2023
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations.
Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023
Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases.
Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023
2022
Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators.
IEEE Trans. Robotics, 2022
Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control.
IEEE Trans. Robotics, 2022
Sci. Robotics, 2022
Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators.
IEEE Robotics Autom. Lett., 2022
Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference.
IEEE Robotics Autom. Lett., 2022
A Generalized Index for Fault-Tolerant Control in Operational Space Under Free-Swinging Actuation Failure.
IEEE Robotics Autom. Lett., 2022
Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments.
IEEE Robotics Autom. Lett., 2022
Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators.
IEEE Robotics Autom. Lett., 2022
Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems.
IEEE Control. Syst. Lett., 2022
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Online Learning of Centroidal Angular Momentum towards Enhancing DCM-based Locomotion.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022
Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions.
Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022
Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions.
Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems.
Proceedings of the 61st IEEE Conference on Decision and Control, 2022
A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot.
Proceedings of the American Control Conference, 2022
2021
Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control.
IEEE Robotics Autom. Lett., October, 2021
IEEE Robotics Autom. Lett., October, 2021
Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery.
IEEE Robotics Autom. Lett., 2021
IEEE Robotics Autom. Lett., 2021
Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa).
IEEE Robotics Autom. Lett., 2021
A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions.
IEEE Robotics Autom. Lett., 2021
Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference.
IEEE Robotics Autom. Lett., 2021
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation.
J. Intell. Robotic Syst., 2021
Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases.
Frontiers Robotics AI, 2021
Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control.
Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021
From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness.
Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021
Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation.
Proceedings of the 2021 European Control Conference, 2021
2020
Proceedings of the Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users, 2020
IEEE Trans. Robotics, 2020
Robotics Auton. Syst., 2020
Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance.
IEEE Robotics Autom. Lett., 2020
The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach With Preservation of Physical Coupling Behavior.
IEEE Robotics Autom. Lett., 2020
Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots.
IEEE Robotics Autom. Lett., 2020
Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds.
IEEE Robotics Autom. Lett., 2020
MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks.
Proceedings of the Robotics: Science and Systems XVI, 2020
Ensuring Stable and Transparent High Stiffness Haptic Interaction Using Successive Force Augmention with Time Domain Passivity Approach.
Proceedings of the Experimental Robotics - The 17th International Symposium, 2020
Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
FingerTac - A Wearable Tactile Thimble for Mobile Haptic Augmented Reality Applications.
Proceedings of the Virtual, Augmented and Mixed Reality. Design and Interaction, 2020
Proceedings of the 18th European Control Conference, 2020
Proceedings of the 59th IEEE Conference on Decision and Control, 2020
Proceedings of the 2020 American Control Conference, 2020
2019
IEEE Trans. Robotics, 2019
IEEE Robotics Autom. Mag., 2019
Multi-Rate Tracking Control for a Space Robot on a Controlled Satellite: A Passivity-Based Strategy.
IEEE Robotics Autom. Lett., 2019
IEEE Robotics Autom. Lett., 2019
Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model.
IEEE Robotics Autom. Lett., 2019
IEEE Robotics Autom. Lett., 2019
Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop.
IEEE Control. Syst. Lett., 2019
A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions.
CoRR, 2019
Assessment of a Supervisory Fault-Hiding Scheme in a Classical Guidance, Navigation and Control Setup: the e.Deorbit mission.
Proceedings of the 4th Conference on Control and Fault Tolerant Systems, 2019
Proceedings of the International Conference on Robotics and Automation, 2019
Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees.
Proceedings of the International Conference on Robotics and Automation, 2019
Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration.
Proceedings of the International Conference on Robotics and Automation, 2019
Proceedings of the International Conference on Robotics and Automation, 2019
Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation.
Proceedings of the 19th International Conference on Advanced Robotics, 2019
Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control.
Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019
Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots.
Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019
Proceedings of the 17th European Control Conference, 2019
Proceedings of the 2019 American Control Conference, 2019
2018
IEEE Trans. Robotics, 2018
Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion.
IEEE Robotics Autom. Lett., 2018
IEEE Robotics Autom. Lett., 2018
IEEE Robotics Autom. Lett., 2018
The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case.
IEEE Robotics Autom. Lett., 2018
A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism.
IEEE Robotics Autom. Lett., 2018
Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses.
CoRR, 2018
Robust <i>H</i><sub>∞</sub> control of a tendon-driven elastic continuum mechanism via a systematic description of nonlinearities.
Proceedings of the 12th IFAC Symposium on Robot Control, 2018
Tracking Control with Robotic Systems for a Moving Target: A Vector Lyapunov Function Approach.
Proceedings of the 12th IFAC Symposium on Robot Control, 2018
Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses <sup>⁎</sup>.
Proceedings of the 12th IFAC Symposium on Robot Control, 2018
Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control.
Proceedings of the 12th IFAC Symposium on Robot Control, 2018
Proceedings of the 12th IFAC Symposium on Robot Control, 2018
Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control.
Proceedings of the 2018 IEEE Intelligent Vehicles Symposium, 2018
Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018
Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots.
Proceedings of the 16th European Control Conference, 2018
Proceedings of the 16th European Control Conference, 2018
2017
External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots.
IEEE Trans. Robotics, 2017
IEEE Trans. Autom. Control., 2017
IEEE Robotics Autom. Lett., 2017
Proceedings of the Advances in Service and Industrial Robotics, 2017
Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Enabling robot assisted landing of heavy UAV rotorcraft via combined control and workload sharing.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Smooth trajectory generation and push-recovery based on Divergent Component of Motion.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Passivity-based control of underactuated biped robots within hybrid zero dynamics approach.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017
Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation.
Proceedings of the Human Friendly Robotics, 10th International Workshop, 2017
Position control of an underactuated continuum mechanism using a reduced nonlinear model.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017
2016
Learning and Generalization of Compensative Zero-Moment Point Trajectory for Biped Walking.
IEEE Trans. Robotics, 2016
Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back.
IEEE Trans. Robotics, 2016
Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots.
IEEE Robotics Autom. Mag., 2016
An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots.
IEEE Robotics Autom. Lett., 2016
IEEE Robotics Autom. Lett., 2016
IEEE Robotics Autom. Lett., 2016
Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios.
Int. J. Robotics Res., 2016
Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin.
Auton. Robots, 2016
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016
Proceedings of the Haptics: Perception, Devices, Control, and Applications, 2016
A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016
Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016
Maximal input limits for independent SISO control in modal space under consideration of actuator constraints.
Proceedings of the 2016 American Control Conference, 2016
2015
IEEE Trans. Robotics, 2015
J. Intell. Robotic Syst., 2015
Int. J. Robotics Res., 2015
Increasing the Performance of Torque-based Visual Servoing by applying Time Domain Passivity.
Proceedings of the 11th IFAC Symposium on Robot Control, SyRoCo 2015, 2015
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
Online iterative learning control of zero-moment point for biped walking stabilization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
An adaptive compliant multi-finger approach-to-grasp strategy for objects with position uncertainties.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework.
Proceedings of the Intelligent Robotics and Applications - 8th International Conference, 2015
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015
On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations.
Proceedings of the American Control Conference, 2015
2014
Proceedings of the 11th International Conference on Ubiquitous Robots and Ambient Intelligence, 2014
Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Online human walking imitation in task and joint space based on quadratic programming.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces.
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014
2013
Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
Proceedings of the American Control Conference, 2013
2012
Proceedings of the Towards Service Robots for Everyday Environments, 2012
Int. J. Robotics Res., 2012
Incremental learning of full body motion primitives and their sequencing through human motion observation.
Int. J. Robotics Res., 2012
Stabilization of the Capture Point Dynamics for Bipedal Walking Based on Model Predictive Control.
Proceedings of the 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, 2012
Proceedings of the 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, 2012
Optimization-based generation and experimental validation of optimal walking trajectories for biped robots.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Kinematic optimization and online adaptation of swing foot trajectory for biped locomotion.
Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012
Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking.
Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012
2011
Incremental kinesthetic teaching of motion primitives using the motion refinement tube.
Auton. Robots, 2011
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), 2011
2010
Mimetic Communication Model with Compliant Physical Contact in Human - Humanoid Interaction.
Int. J. Robotics Res., 2010
DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR's Two-Handed Humanoid Justin: System Design, Integration and Control).
Autom., 2010
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010
Immersion and invariance control for an antagonistic joint with nonlinear mechanical stiffness.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010
2009
Proceedings of the 9th IFAC Symposium on Robot Control, SyRoCo 2009, Gifu, Japan, 2009
Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance.
Proceedings of the Robotics Research - The 14th International Symposium, 2009
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
2008
IEEE Trans. Robotics, 2008
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
Analysis and experimental evaluation of the Intrinsically Passive Controller (IPC) for multifingered hands.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008
Employing wave variables for coordinated control of robots with distributed control architecture.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008
Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008
Motion capture based human motion recognition and imitation by direct marker control.
Proceedings of the 8th IEEE-RAS International Conference on Humanoid Robots, 2008
Proceedings of the 8th IEEE-RAS International Conference on Humanoid Robots, 2008
Springer Tracts in Advanced Robotics 49, Springer, ISBN: 978-3-540-69253-9, 2008
2007
The DLR lightweight robot: design and control concepts for robots in human environments.
Ind. Robot, 2007
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
Int. J. Robotics Res., 2007
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007
2006
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006
Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, 2006
2005
Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz (Cartesian Impedance Control of Flexible Joint Robots: A Passivity Based Approach).
Autom., 2005
Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005
2004
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004
2003
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003
Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003
2002
Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002
2001
Interactive redundant robotics: control of the inverted pendulum with nullspace motion.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001