Interactive redundant robotics: control of the inverted pendulum with nullspace motion. - Günter Schreiber; Christian Ott 001; Gerd Hirzinger (IROS, 2001)

Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator. - Christian Ott 001; Alin Albu-Schäffer; Gerd Hirzinger (IROS, 2002)

Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms. - Alin Albu-Schäffer; Christian Ott 001; Udo Frese; Gerd Hirzinger (ICRA, 2003)

Decoupling based Cartesian impedance control of flexible joint robots. - Christian Ott 001; Alin Albu-Schäffer; Andreas Kugi; Gerd Hirzinger (ICRA, 2003)

A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments. - Alin Albu-Schäffer; Christian Ott 001; Gerd Hirzinger (ICRA, 2004)

A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation. - Christian Ott 001; Alin Albu-Schäffer; Andreas Kugi; Stefano Stramigioli; Gerd Hirzinger (ICRA, 2004)

Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems. - Alin Albu-Schäffer; Christian Ott 001; Gerd Hirzinger (ICRA, 2005)

Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz (Cartesian Impedance Control of Flexible Joint Robots: A Passivity Based Approach). - Christian Ott 001; Alin Albu-Schäffer; Andreas Kugi; Stefano Stramigioli; Gerd Hirzinger (Autom., 2005)

A Humanoid Two-Arm System for Dexterous Manipulation. - Christian Ott 001; Oliver Eiberger; Werner Friedl; Berthold Bäuml; Ulrich Hillenbrand; Christoph Borst 001; Alin Albu-Schäffer; Bernhard Brunner; Heiko Hirschmüller; Simon Kielhöfer; Rainer Konietschke; Michael Suppa; et al. (Humanoids, 2006)

A Hands-on-robot for Accurate Placement of Pedicle Screws. - Tobias Ortmaier; Holger Weiss; Ulrich Hagn; Markus Grebenstein; Matthias Nickel; Alin Albu-Schäffer; Christian Ott 001; Stefan Jörg; Rainer Konietschke; Luc Le Tien; Gerd Hirzinger (ICRA, 2006)

A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure. - Christian Ott 001; Alin Albu-Schäffer; Gerd Hirzinger (IROS, 2006)

Passivity-based Object-Level Impedance Control for a Multifingered Hand. - Thomas Wimböck; Christian Ott 001; Gerd Hirzinger (IROS, 2006)

A humanoid upper body system for two-handed manipulation. - Christoph Borst 001; Christian Ott 001; Thomas Wimböck; Bernhard Brunner; Franziska Zacharias; Berthold Bäuml; Ulrich Hillenbrand; Sami Haddadin; Alin Albu-Schäffer; Gerd Hirzinger (ICRA, 2007)

Impedance Behaviors for Two-handed Manipulation: Design and Experiments. - Thomas Wimböck; Christian Ott 001; Gerd Hirzinger (ICRA, 2007)

A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. - Alin Albu-Schäffer; Christian Ott 001; Gerd Hirzinger (Int. J. Robotics Res., 2007)

The DLR lightweight robot: design and control concepts for robots in human environments. - Alin Albu-Schäffer; Sami Haddadin; Christian Ott 001; Andreas Stemmer; Thomas Wimböck; Gerhard Hirzinger (Ind. Robot, 2007)

Cartesian Impedance Control of Redundant and Flexible-Joint Robots - Christian Ott 001 (Springer, 2008)

Incremental learning of full body motion primitives for humanoid robots. - Dana Kulic; Dongheui Lee; Christian Ott 001; Yoshihiko Nakamura (Humanoids, 2008)

Motion capture based human motion recognition and imitation by direct marker control. - Christian Ott 001; Dongheui Lee; Yoshihiko Nakamura (Humanoids, 2008)

Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions. - Christian Ott 001; Andreas Kugi; Yoshihiko Nakamura (ICRA, 2008)

Employing wave variables for coordinated control of robots with distributed control architecture. - Christian Ott 001; Yoshihiko Nakamura (ICRA, 2008)

Analysis and experimental evaluation of the Intrinsically Passive Controller (IPC) for multifingered hands. - Thomas Wimböck; Christian Ott 001; Gerd Hirzinger (ICRA, 2008)

Impedance control for variable stiffness mechanisms with nonlinear joint coupling. - Thomas Wimböck; Christian Ott 001; Alin Albu-Schäffer; Andreas Kugi; Gerd Hirzinger (IROS, 2008)

Soft robotics. - Alin Albu-Schäffer; Oliver Eiberger; Markus Grebenstein; Sami Haddadin; Christian Ott 001; Thomas Wimböck; Sebastian Wolf 001; Gerd Hirzinger (IEEE Robotics Autom. Mag., 2008)

On the Passivity-Based Impedance Controlof Flexible Joint Robots. - Andreas Kugi; Christian Ott 001; Alin Albu-Schäffer; Gerd Hirzinger (IEEE Trans. Robotics, 2008)

Mimetic communication with impedance control for physical human-robot interaction. - Dongheui Lee; Christian Ott 001; Yoshihiko Nakamura (ICRA, 2009)

Base force/torque sensing for position based Cartesian impedance control. - Christian Ott 001; Yoshihiko Nakamura (IROS, 2009)

Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance. - Alin Albu-Schäffer; Oliver Eiberger; Matthias Fuchs; Markus Grebenstein; Sami Haddadin; Christian Ott 001; Andreas Stemmer; Thomas Wimböck; Sebastian Wolf 001; Christoph Borst 001; Gerd Hirzinger (ISRR, 2009)

Admittance Control using a Base Force/Torque Sensor.*. - Christian Ott 001; Yoshihiko Nakamura (SyRoCo, 2009)

Immersion and invariance control for an antagonistic joint with nonlinear mechanical stiffness. - Thomas Wimböck; Christian Ott 001; Gerd Hirzinger (CDC, 2010)

Development of a biped robot with torque controlled joints. - Christian Ott 001; Christoph Baumgärtner; Johannes Mayr; Matthias Fuchs; Robert Burger; Dongheui Lee; Oliver Eiberger; Alin Albu-Schäffer; Markus Grebenstein; Gerd Hirzinger (Humanoids, 2010)

Unified Impedance and Admittance Control. - Christian Ott 001; Ranjan Mukherjee; Yoshihiko Nakamura (ICRA, 2010)

Incremental motion primitive learning by physical coaching using impedance control. - Dongheui Lee; Christian Ott 001 (IROS, 2010)

DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR's Two-Handed Humanoid Justin: System Design, Integration and Control). - Thomas Wimböck; Christoph Borst 001; Alin Albu-Schäffer; Christian Ott 001; Florian Schmidt 001; Matthias Fuchs; Werner Friedl; Oliver Eiberger; Andreas Baumann; Alexander Beyer; Gerd Hirzinger (Autom., 2010)

Mimetic Communication Model with Compliant Physical Contact in Human - Humanoid Interaction. - Dongheui Lee; Christian Ott 001; Yoshihiko Nakamura (Int. J. Robotics Res., 2010)

Posture and balance control for biped robots based on contact force optimization. - Christian Ott 001; Máximo A. Roa; Gerd Hirzinger (Humanoids, 2011)

Physical human robot interaction in imitation learning. - Dongheui Lee; Christian Ott 001; Yoshihiko Nakamura; Gerd Hirzinger (ICRA, 2011)

Bipedal walking control based on Capture Point dynamics. - Johannes Englsberger; Christian Ott 001; Máximo A. Roa; Alin Albu-Schäffer; Gerhard Hirzinger (IROS, 2011)

Subspace-oriented energy distribution for the Time Domain Passivity Approach. - Christian Ott 001; Jordi Artigas; Carsten Preusche (IROS, 2011)

Preface. - Christian Ott 001; Dragomir N. Nenchev (Adv. Robotics, 2011)

Incremental kinesthetic teaching of motion primitives using the motion refinement tube. - Dongheui Lee; Christian Ott 001 (Auton. Robots, 2011)

Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking. - Johannes Englsberger; Christian Ott 001 (Humanoids, 2012)

Kinematic optimization and online adaptation of swing foot trajectory for biped locomotion. - Hiroshi Kaminaga; Johannes Englsberger; Christian Ott 001 (Humanoids, 2012)

Walking control of fully actuated robots based on the Bipedal SLIP model. - Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2012)

Optimization-based generation and experimental validation of optimal walking trajectories for biped robots. - Alexander Werner; Roberto Lampariello; Christian Ott 001 (IROS, 2012)

Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems. - Alin Albu-Schäffer; Christian Ott 001; Florian Petit (SyRoCo, 2012)

Stabilization of the Capture Point Dynamics for Bipedal Walking Based on Model Predictive Control. - Manuel Krause; Johannes Englsberger; Pierre-Brice Wieber; Christian Ott 001 (SyRoCo, 2012)

Gangstabilisierung humanoider Roboter mittels Capture Point Regelung. - Johannes Englsberger; Christian Ott 001 (Autom., 2012)

Incremental learning of full body motion primitives and their sequencing through human motion observation. - Dana Kulic; Christian Ott 001; Dongheui Lee; Junichi Ishikawa; Yoshihiko Nakamura (Int. J. Robotics Res., 2012)

Comparison of object-level grasp controllers for dynamic dexterous manipulation. - Thomas Wimböck; Christian Ott 001; Alin Albu-Schäffer; Gerd Hirzinger (Int. J. Robotics Res., 2012)

Dual-Arm Manipulation. - Thomas Wimböck; Christian Ott 001 (Towards Service Robots for Everyday Environments, 2012)

Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. - Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (ACC, 2013)

Modal limit cycle control for variable stiffness actuated robots. - Dominic Lakatos; Gianluca Garofalo; Florian Petit; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2013)

Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability. - Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (IROS, 2013)

Three-dimensional bipedal walking control using Divergent Component of Motion. - Johannes Englsberger; Christian Ott 001; Alin Albu-Schäffer (IROS, 2013)

On the closed form computation of the dynamic matrices and their differentiations. - Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (IROS, 2013)

Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing. - Christian Ott 001; Bernd Henze; Dongheui Lee (IROS, 2013)

Trajectory optimization for walking robots with series elastic actuators. - Alexander Werner; Roberto Lampariello; Christian Ott 001 (CDC, 2014)

Overview of the torque-controlled humanoid robot TORO. - Johannes Englsberger; Alexander Werner; Christian Ott 001; Bernd Henze; Máximo A. Roa; Gianluca Garofalo; Robert Burger; Alexander Beyer; Oliver Eiberger; Korbinian Schmid; Alin Albu-Schäffer (Humanoids, 2014)

Control applications of TORO - A Torque controlled humanoid robot. - Bernd Henze; Alexander Werner; Máximo A. Roa; Gianluca Garofalo; Johannes Englsberger; Christian Ott 001 (Humanoids, 2014)

Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces. - Yusuke Ogawa; Gentiane Venture; Christian Ott 001 (Humanoids, 2014)

Online human walking imitation in task and joint space based on quadratic programming. - Kai Hu 009; Christian Ott 001; Dongheui Lee (ICRA, 2014)

A model-free approach to vibration suppression for intrinsically elastic robots. - Florian Petit; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2014)

Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. - Johannes Englsberger; Twan Koolen; Sylvain Bertrand; Jerry E. Pratt; Christian Ott 001; Alin Albu-Schäffer (IROS, 2014)

Humanoid compliant whole arm dexterous manipulation: Control design and experiments. - Monika Florek-Jasinska; Thomas Wimböck; Christian Ott 001 (IROS, 2014)

Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control. - Bernd Henze; Christian Ott 001; Máximo A. Roa (IROS, 2014)

Torque-based multi-task and balancing control for humanoid robots. - Christian Ott 001; Alexander Dietrich; Máximo A. Roa (URAI, 2014)

On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations. - Gianluca Garofalo; Johannes Englsberger; Christian Ott 001 (ACC, 2015)

Biologically inspired deadbeat control for running on 3D stepping stones. - Johannes Englsberger; Pawel Kozlowski; Christian Ott 001 (Humanoids, 2015)

A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework. - Zhaopeng Chen; Christian Ott 001; Neal Y. Lii (ICIRA (2), 2015)

An adaptive compliant multi-finger approach-to-grasp strategy for objects with position uncertainties. - Zhaopeng Chen; Thomas Wimböck; Máximo A. Roa; Benedikt Pleintinger; Miguel Neves 002; Christian Ott 001; Christoph Borst 001; Neal Y. Lii (ICRA, 2015)

Online iterative learning control of zero-moment point for biped walking stabilization. - Kai Hu 009; Christian Ott 001; Dongheui Lee (ICRA, 2015)

Biologically Inspired Dead-beat controller for bipedal running in 3D. - Johannes Englsberger; Pawel Kozlowski; Christian Ott 001 (IROS, 2015)

Increasing the Performance of Torque-based Visual Servoing by applying Time Domain Passivity. - Phillip Schmidt 001; Jordi Artigas; Marco De Stefano; Ribin Balachandran; Christian Ott 001 (SyRoCo, 2015)

Prioritized multi-task compliance control of redundant manipulators. - Christian Ott 001; Alexander Dietrich; Alin Albu-Schäffer (Autom., 2015)

An overview of null space projections for redundant, torque-controlled robots. - Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (Int. J. Robotics Res., 2015)

A Hybrid System Framework for Unified Impedance and Admittance Control. - Christian Ott 001; Ranjan Mukherjee; Yoshihiko Nakamura (J. Intell. Robotic Syst., 2015)

Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion. - Johannes Englsberger; Christian Ott 001; Alin Albu-Schäffer (IEEE Trans. Robotics, 2015)

Maximal input limits for independent SISO control in modal space under consideration of actuator constraints. - Nico Mansfeld; Christian Ott 001; Sami Haddadin (ACC, 2016)

Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta. - Alessandro M. Giordano; Gianluca Garofalo; Marco De Stefano; Christian Ott 001; Alin Albu-Schäffer (CDC, 2016)

A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots. - Manuel Keppler; Dominic Lakatos; Christian Ott 001; Alin Albu-Schäffer (CDC, 2016)

Integrating Measured Force Feedback in Passive Multilateral Teleoperation. - Michael Panzirsch; Thomas Hulin; Jordi Artigas; Christian Ott 001; Manuel Ferre (EuroHaptics (1), 2016)

The DLR C-runner: Concept, design and experiments. - Florian Loeffl; Alexander Werner; Dominic Lakatos; Jens Reinecke; Sebastian Wolf 001; Robert Burger; Thomas Gumpert; Florian Schmidt 001; Christian Ott 001; Markus Grebenstein; Alin Albu-Schäffer (Humanoids, 2016)

Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach. - Hamid Sadeghian; Christian Ott 001; Gordon Cheng (Humanoids, 2016)

A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots. - Manuel Keppler; Dominic Lakatos; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2016)

A passivity-based admittance control design using feedback interconnections. - Min Jun Kim 003; Woongyong Lee; Christian Ott 001; Wan Kyun Chung (IROS, 2016)

Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin. - Alexander Dietrich; Kristin Bussmann; Florian Petit; Paul Kotyczka; Christian Ott 001; Boris Lohmann; Alin Albu-Schäffer (Auton. Robots, 2016)

Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios. - Bernd Henze; Máximo A. Roa; Christian Ott 001 (Int. J. Robotics Res., 2016)

Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks. - Alexander Dietrich; Christian Ott 001; Stefano Stramigioli (IEEE Robotics Autom. Lett., 2016)

Limit Cycle Control Using Energy Function Regulation With Friction Compensation. - Gianluca Garofalo; Christian Ott 001 (IEEE Robotics Autom. Lett., 2016)

An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. - Bernd Henze; Alexander Dietrich; Christian Ott 001 (IEEE Robotics Autom. Lett., 2016)

Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots. - Christian Ott 001; Bernd Henze; Georg Hettich; Tim Niklas Seyde; Máximo A. Roa; Vittorio Lippi; Thomas Mergner (IEEE Robotics Autom. Mag., 2016)

Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back. - Johannes Englsberger; Pawel Kozlowski; Christian Ott 001; Alin Albu-Schäffer (IEEE Trans. Robotics, 2016)

Learning and Generalization of Compensative Zero-Moment Point Trajectory for Biped Walking. - Kai Hu 009; Christian Ott 001; Dongheui Lee (IEEE Trans. Robotics, 2016)

Limbed Systems. - Shuuji Kajita; Christian Ott 001 (Springer Handbook of Robotics, 2nd Ed., 2016)

Position control of an underactuated continuum mechanism using a reduced nonlinear model. - Bastian Deutschmann; Alexander Dietrich; Christian Ott 001 (CDC, 2017)

Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation. - Gianluca Garofalo; Christian Ott 001 (HFR, 2017)

Optimal and robust walking using intrinsic properties of a series-elastic robot. - Alexander Werner; Bernd Henze; Florian Loeffl; Sigrid Leyendecker; Christian Ott 001 (Humanoids, 2017)

Enhancing joint torque control of series elastic actuators with physical damping. - Min Jun Kim 003; Alexander Werner; Florian Christoph Loeffl; Christian Ott 001 (ICRA, 2017)

Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion. - George Mesesan; Johannes Englsberger; Bernd Henze; Christian Ott 001 (ICRA, 2017)

Passivity-based control of underactuated biped robots within hybrid zero dynamics approach. - Hamid Sadeghian; Christian Ott 001; Gianluca Garofalo; Gordon Cheng (ICRA, 2017)

Smooth trajectory generation and push-recovery based on Divergent Component of Motion. - Johannes Englsberger; George Mesesan; Christian Ott 001 (IROS, 2017)

Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts. - Bernd Henze; Alexander Dietrich; Máximo A. Roa; Christian Ott 001 (IROS, 2017)

Enabling robot assisted landing of heavy UAV rotorcraft via combined control and workload sharing. - Moritz Maier; Konstantin Kondak; Christian Ott 001 (IROS, 2017)

Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization. - Nico Mansfeld; Badis Djellab; Jaime Raldua Veuthey; Fabian Beck 002; Christian Ott 001; Sami Haddadin (IROS, 2017)

Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots. - Alexander Werner; Wojciech Turlej; Christian Ott 001 (IROS, 2017)

Robust Motion Control of a Soft Robotic System Using Fractional Order Control. - Bastian Deutschmann; Christian Ott 001; Concepción A. Monje; Carlos Balaguer (RAAD, 2017)

Passive Hierarchical Impedance Control Via Energy Tanks. - Alexander Dietrich; Xuwei Wu; Kristin Bussmann; Christian Ott 001; Alin Albu-Schäffer; Stefano Stramigioli (IEEE Robotics Autom. Lett., 2017)

Whole-Body Control [TC Spotlight]. - Federico L. Moro; Luis Sentis; Jaeheung Park; Christopher G. Atkeson; Michael Gienger; Ambarish Goswami; Shuuji Kajita; Oussama Khatib; James Kuffner; David E. Orin; Christian Ott 001; Jerry E. Pratt; et al. (IEEE Robotics Autom. Mag., 2017)

Energy Based Limit Cycle Control of Elastically Actuated Robots. - Gianluca Garofalo; Christian Ott 001 (IEEE Trans. Autom. Control., 2017)

Continuous Legged Locomotion Planning. - Nicolas Perrin 001; Christian Ott 001; Johannes Englsberger; Olivier Stasse; Florent Lamiraux; Darwin G. Caldwell (IEEE Trans. Robotics, 2017)

External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots. - Teodor Tomic; Christian Ott 001; Sami Haddadin (IEEE Trans. Robotics, 2017)

Task-space Tracking Control for Underactuated Aerial Manipulators. - Gianluca Garofalo; Fabian Beck 002; Christian Ott 001 (ECC, 2018)

Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots. - Manuel Keppler; Dominic Lakatos; Alexander Werner; Florian Loeffl; Christian Ott 001; Alin Albu-Schäffer (ECC, 2018)

DCM-Based Gait Generation for Walking on Moving Support Surfaces. - Johannes Englsberger; George Mesesan; Christian Ott 001; Alin Albu-Schäffer (Humanoids, 2018)

Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation. - Kristin Bussmann; Alexander Dietrich; Christian Ott 001 (ICRA, 2018)

Torque-Based Dynamic Walking - A Long Way from Simulation to Experiment. - Johannes Englsberger; George Mesesan; Alexander Werner; Christian Ott 001 (ICRA, 2018)

An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base. - Marco De Stefano; Ribin Balachandran; Alessandro M. Giordano; Christian Ott 001; Cristian Secchi (ICRA, 2018)

Humanoid Teleoperation Using Task-Relevant Haptic Feedback. - Firas Abi-Farraj; Bernd Henze; Alexander Werner; Michael Panzirsch; Christian Ott 001; Máximo A. Roa (IROS, 2018)

Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots. - Manuel Keppler; Dominic Lakatos; Christian Ott 001; Alin Albu-Schäffer (IROS, 2018)

Passive Compliance Control of Aerial Manipulators. - Min Jun Kim 003; Ribin Balachandran; Marco De Stefano; Konstantin Kondak; Christian Ott 001 (IROS, 2018)

Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots. - Alexander Werner; Bernd Henze; Manuel Keppler; Florian Loeffl; Sigrid Leyendecker; Christian Ott 001 (IROS, 2018)

Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control. - Michael Panzirsch; Harsimran Singh; Martin Stelzer; Martin J. Schuster; Christian Ott 001; Manuel Ferre (Intelligent Vehicles Symposium, 2018)

Non-Linear Local Force Feedback Control for Haptic Interfaces ⁎. - Ribin Balachandran; Natalia Kozlova; Christian Ott 001; Alin Albu-Schäffer (SyRoCo, 2018)

Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control. - Gianluca Garofalo; Christian Ott 001 (SyRoCo, 2018)

Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses ⁎. - Min Jun Kim 003; Jianjie Lin; Konstantin Kondak; Dongheui Lee; Christian Ott 001 (SyRoCo, 2018)

Tracking Control with Robotic Systems for a Moving Target: A Vector Lyapunov Function Approach. - Hrishik Mishra; Marco De Stefano; Alessandro Massimo Giordano; Christian Ott 001 (SyRoCo, 2018)

Robust H∞ control of a tendon-driven elastic continuum mechanism via a systematic description of nonlinearities. - Anton Leonhard Shu; Bastian Deutschmann; Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (SyRoCo, 2018)

Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses. - Min Jun Kim 003; Jianjie Lin; Konstantin Kondak; Dongheui Lee; Christian Ott 001 (CoRR, 2018)

A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism. - Bastian Deutschmann; Tong Liu; Alexander Dietrich; Christian Ott 001; Dongheui Lee (IEEE Robotics Autom. Lett., 2018)

The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case. - Alexander Dietrich; Christian Ott 001; Jaeheung Park (IEEE Robotics Autom. Lett., 2018)

Passivity Analysis and Control of Humanoid Robots on Movable Ground. - Bernd Henze; Ribin Balachandran; Máximo Alejandro Roa-Garzón; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2018)

A Stabilizing Controller for Regulation of UAV With Manipulator. - Min Jun Kim 003; Konstantin Kondak; Christian Ott 001 (IEEE Robotics Autom. Lett., 2018)

Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion. - George Mesesan; Johannes Englsberger; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2018)

Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots. - Manuel Keppler; Dominic Lakatos; Christian Ott 001; Alin Albu-Schäffer (IEEE Trans. Robotics, 2018)

A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements. - Hrishik Mishra; Marco De Stefano; Alessandro Massimo Giordano; Christian Ott 001 (ACC, 2019)

Model-based fault diagnosis and tolerant control: the ESA's e.Deorbit mission. - David Henry 001; Jérôme Cieslak; Jazmin Zenteno Torres; Pablo Colmenarejo; J. Branco; Nuno Santos; Pedro Serra; Jürgen Telaar; Hans Strauch; Alessandro Massimo Giordano; Marco De Stefano; Christian Ott 001; et al. (ECC, 2019)

Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots. - Juan Miguel García-Haro; Bernd Henze; George Mesesan; Santiago Martínez de la Casa Díaz; Christian Ott 001 (Humanoids, 2019)

Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control. - George Mesesan; Johannes Englsberger; Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (Humanoids, 2019)

Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation. - Andre Coelho; Christian Ott 001; Harsimran Singh; Fernando C. Lizarralde; Konstantin Kondak (ICAR, 2019)

Vibration Control for Manipulators on a Translationally Flexible Base. - Fabian Beck 002; Gianluca Garofalo; Christian Ott 001 (ICRA, 2019)

Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration. - Gianluca Garofalo; Nico Mansfeld; Julius Jankowski; Christian Ott 001 (ICRA, 2019)

Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees. - Bernd Henze; Máximo A. Roa; Alexander Werner; Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2019)

Development of SAM: cable-Suspended Aerial Manipulator*. - Yuri S. Sarkisov; Min Jun Kim 003; Davide Bicego; Dzmitry Tsetserukou; Christian Ott 001; Antonio Franchi; Konstantin Kondak (ICRA, 2019)

Assessment of a Supervisory Fault-Hiding Scheme in a Classical Guidance, Navigation and Control Setup: the e.Deorbit mission. - Jérôme Cieslak; David Henry 001; Pablo Colmenarejo; J. Branco; Nuno Santos; Pedro Serra; Jürgen Telaar; Hans Strauch; Alessandro Massimo Giordano; Marco De Stefano; Christian Ott 001; Matthias Reiner; et al. (SysTol, 2019)

Development of SAM: cable-Suspended Aerial Manipulator. - Yuri S. Sarkisov; Min Jun Kim 003; Davide Bicego; Dzmitry Tsetserukou; Christian Ott 001; Antonio Franchi; Konstantin Kondak (CoRR, 2019)

A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions. - Min Jun Kim 003; Woongyong Lee; Jae Yeon Choi; Goo Bong Chung; Kyung-Lyong Han; Il Seop Choi; Christian Ott 001; Wan Kyun Chung (CoRR, 2019)

Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop. - Gianluca Garofalo; Alexander Werner; Florian Loeffl; Christian Ott 001 (IEEE Control. Syst. Lett., 2019)

Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks. - Firas Abi-Farraj; Bernd Henze; Christian Ott 001; Paolo Robuffo Giordano; Máximo A. Roa (IEEE Robotics Autom. Lett., 2019)

Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model. - Bastian Deutschmann; Maxime Chalon; Jens Reinecke; Maximilian Maier; Christian Ott 001 (IEEE Robotics Autom. Lett., 2019)

Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots. - Alessandro Massimo Giordano; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2019)

Multi-Rate Tracking Control for a Space Robot on a Controlled Satellite: A Passivity-Based Strategy. - Marco De Stefano; Hrishik Mishra; Ribin Balachandran; Roberto Lampariello; Christian Ott 001; Cristian Secchi (IEEE Robotics Autom. Lett., 2019)

Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. - Abderrahmane Kheddar; Máximo A. Roa; Pierre-Brice Wieber; François Chaumette; Fabien Spindler; Giuseppe Oriolo; Leonardo Lanari; Adrien Escande; Kevin Chappellet; Fumio Kanehiro; Patrice Rabaté; Stéphane Caron; et al. (IEEE Robotics Autom. Mag., 2019)

Model-Free Friction Observers for Flexible Joint Robots With Torque Measurements. - Min Jun Kim 003; Fabian Beck 002; Christian Ott 001; Alin Albu-Schäffer (IEEE Trans. Robotics, 2019)

A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target. - Hrishik Mishra; Marco De Stefano; Alessandro M. Giordano; Roberto Lampariello; Christian Ott 001 (ACC, 2020)

Output Feedback Stabilization of an Orbital Robot. - Hrishik Mishra; Marco De Stefano; Alessandro M. Giordano; Christian Ott 001 (CDC, 2020)

On the Control of Translationally Flexible Base Manipulators. - Gianluca Garofalo; Fabian Beck 002; Julian Klodmann; Christian Ott 001 (ECC, 2020)

FingerTac - A Wearable Tactile Thimble for Mobile Haptic Augmented Reality Applications. - Thomas Hulin; Michael Rothammer; Isabel Tannert; Suraj Subramanyam Giri; Benedikt Pleintinger; Harsimran Singh; Bernhard M. Weber; Christian Ott 001 (HCI (10), 2020)

Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters. - Ribin Balachandran; Hrishik Mishra; Matteo Cappelli; Bernhard M. Weber; Cristian Secchi; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2020)

Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation. - Ribin Balachandran; Jee-Hwan Ryu; Mikael Jorda; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2020)

Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator. - Andre Coelho; Harsimran Singh; Konstantin Kondak; Christian Ott 001 (ICRA, 2020)

Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor. - Yuri S. Sarkisov; Min Jun Kim 003; Andre Coelho; Dzmitry Tsetserukou; Christian Ott 001; Konstantin Kondak (ICRA, 2020)

Joint-Level Control of the DLR Lightweight Robot SARA. - Maged Iskandar; Christian Ott 001; Oliver Eiberger; Manuel Keppler; Alin Albu-Schäffer; Alexander Dietrich (IROS, 2020)

Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces. - Hrishik Mishra; Alessandro M. Giordano; Marco De Stefano; Roberto Lampariello; Christian Ott 001 (IROS, 2020)

Ensuring Stable and Transparent High Stiffness Haptic Interaction Using Successive Force Augmention with Time Domain Passivity Approach. - Harsimran Singh; Michael Rothammer; Chan-Il Lee; Thomas Hulin; Jee-Hwan Ryu; Christian Ott 001 (ISER, 2020)

MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. - Johannes Englsberger; Alexander Dietrich; George Mesesan; Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (Robotics: Science and Systems, 2020)

Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds. - Gianluca Garofalo; Christian Ott 001 (IEEE Robotics Autom. Lett., 2020)

Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots. - Moritz Maier; Manuel Keppler; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2020)

The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach With Preservation of Physical Coupling Behavior. - Michael Panzirsch; Harsimran Singh; Christian Ott 001 (IEEE Robotics Autom. Lett., 2020)

Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance. - Harsimran Singh; Michael Panzirsch; Andre Coelho; Christian Ott 001 (IEEE Robotics Autom. Lett., 2020)

Coordination of thrusters, reaction wheels, and arm in orbital robots. - Alessandro M. Giordano; Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (Robotics Auton. Syst., 2020)

Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots. - Alexander Dietrich; Christian Ott 001 (IEEE Trans. Robotics, 2020)

The EuRoC Platforms. - Daniel Braun 006; Markus Achtelik; Christian Ott 001; Bernd Winkler; Zachary Taylor (EuRoC, 2020)

Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation. - Xuming Meng; Manuel Keppler; Christian Ott 001 (ECC, 2021)

From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness. - Johannes Englsberger; Alessandro M. Giordano; Achraf Hiddane; Robert Schuller; Florian Loeffl; George Mesesan; Christian Ott 001 (HUMANOIDS, 2021)

Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control. - Shengzhi Wang; George Mesesan; Johannes Englsberger; Dongheui Lee; Christian Ott 001 (HUMANOIDS, 2021)

A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation. - Ribin Balachandran; Hrishik Mishra; Michael Panzirsch; Christian Ott 001 (ICRA, 2021)

Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion. - George Mesesan; Johannes Englsberger; Christian Ott 001 (ICRA, 2021)

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases. - Thomas Hulin; Michael Panzirsch; Harsimran Singh; Andre Coelho; Ribin Balachandran; Aaron Pereira; Bernhard M. Weber; Nicolai Bechtel; Cornelia Riecke; Bernhard Brunner; Neal Y. Lii; Julian Klodmann; et al. (Frontiers Robotics AI, 2021)

Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. - Andre Coelho; Yuri S. Sarkisov; Xuwei Wu; Hrishik Mishra; Harsimran Singh; Alexander Dietrich; Antonio Franchi; Konstantin Kondak; Christian Ott 001 (J. Intell. Robotic Syst., 2021)

Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference. - Ribin Balachandran; Michael Panzirsch; Marco De Stefano; Harsimran Singh; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2021)

A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions. - Marco De Stefano; Hrishik Mishra; Alessandro M. Giordano; Roberto Lampariello; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

Compliant Floating-Base Control of Space Robots. - Alessandro M. Giordano; Davide Calzolari; Marco De Stefano; Hrishik Mishra; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2021)

Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa). - Riccardo Mengacci; Manuel Keppler; Martin Pfanne; Antonio Bicchi; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

A Compliant Partitioned Shared Control Strategy for an Orbital Robot. - Hrishik Mishra; Ribin Balachandran; Marco De Stefano; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery. - Robert Schuller; George Mesesan; Johannes Englsberger; Jinoh Lee; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators. - Gianluca Garofalo; Xuwei Wu; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control. - Manuel Keppler; Florian Loeffl; David Wandinger; Clara Raschel; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot. - Xuwei Wu; Christian Ott 001; Alexander Dietrich (ACC, 2022)

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. - Andre Coelho; Alin Albu-Schäffer; Arne Sachtler; Hrishik Mishra; Davide Bicego; Christian Ott 001; Antonio Franchi (CDC, 2022)

Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions. - Fabian Beck 002; Maximilian Rehermann; Johann Reger; Christian Ott 001 (Humanoids, 2022)

Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions. - Tobias Egle; Johannes Englsberger; Christian Ott 001 (Humanoids, 2022)

A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion. - Konrad Fründ; Anton Leonhard Shu; Florian Christoph Loeffl; Christian Ott 001 (Humanoids, 2022)

A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function. - Jinyeong Jeong; Hrishik Mishra; Christian Ott 001; Min Jun Kim 003 (ICRA, 2022)

Planning Natural Locomotion for Articulated Soft Quadrupeds. - Mathew Jose Pollayil; Cosimo Della Santina; George Mesesan; Johannes Englsberger; Daniel Seidel; Manolo Garabini; Christian Ott 001; Antonio Bicchi; Alin Albu-Schäffer (ICRA, 2022)

Online Learning of Centroidal Angular Momentum towards Enhancing DCM-based Locomotion. - Robert Schuller; George Mesesan; Johannes Englsberger; Jinoh Lee; Christian Ott 001 (ICRA, 2022)

A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase. - Ria Vijayan; Marco De Stefano; Christian Ott 001 (ICRA, 2022)

Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems. - George Jose Pollayil; Xuming Meng; Manuel Keppler; Martin Pfanne; Antonio Bicchi; Christian Ott 001 (IEEE Control. Syst. Lett., 2022)

Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators. - Marie Harder; Manuel Keppler; Xuming Meng; Christian Ott 001; Hannes Höppner; Alexander Dietrich (IEEE Robotics Autom. Lett., 2022)

Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments. - Manuel Keppler; Clara Raschel; David Wandinger; Andreas Stemmer; Christian Ott 001 (IEEE Robotics Autom. Lett., 2022)

A Generalized Index for Fault-Tolerant Control in Operational Space Under Free-Swinging Actuation Failure. - Yisoo Lee; Nikos G. Tsagarakis; Christian Ott 001; Jinoh Lee (IEEE Robotics Autom. Lett., 2022)

Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference. - Michael Panzirsch; Marek Sierotowicz; Revanth Prakash; Harsimran Singh; Christian Ott 001 (IEEE Robotics Autom. Lett., 2022)

Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators. - Xuwei Wu; Annika Kirner; Gianluca Garofalo; Christian Ott 001; Paul Kotyczka; Alexander Dietrich (IEEE Robotics Autom. Lett., 2022)

Exploring planet geology through force-feedback telemanipulation from orbit. - Michael Panzirsch; Aaron Pereira; Harsimran Singh; Bernhard M. Weber; Edmundo Ferreira; Andrei Gherghescu; Lukas Hann; Emiel Boudewijn den Exter; Frank P. J. van der Hulst; Levin Gerdes; Leonardo Cencetti; Kjetil Wormnes; et al. (Sci. Robotics, 2022)

Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control. - Min Jun Kim 003; Alexander Werner; Florian Loeffl; Christian Ott 001 (IEEE Trans. Robotics, 2022)

Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators. - Youssef Michel; Christian Ott 001; Dongheui Lee (IEEE Trans. Robotics, 2022)

Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases. - Tobias Egle; Johannes Englsberger; Christian Ott 001 (Humanoids, 2023)

Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations. - Sait Sovukluk; Christian Ott 001; Mustafa Mert Ankarali (Humanoids, 2023)

Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation. - Yuri S. Sarkisov; Andre Coelho; Maihara Santos; Min Jun Kim 003; Dzmitry Tsetserukou; Christian Ott 001; Konstantin Kondak (ICRA, 2023)

A Gravity Compensation Strategy for On-ground Validation of Orbital Manipulators. - Marco De Stefano; Ria Vijayan; Andreas Stemmer; Ferdinand Elhardt; Christian Ott 001 (ICRA, 2023)

Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks. - Hemjyoti Das; Bjørn Kåre Sæbø; Kristin Y. Pettersen; Christian Ott 001 (IROS, 2023)

Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study. - Sait Sovukluk; Johannes Englsberger; Christian Ott 001 (IROS, 2023)

Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots. - Xuming Meng; Manuel Keppler; Christian Ott 001 (IEEE Control. Syst. Lett., 2023)

A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework. - Michael Rothammer; Andre Coelho; Hrishik Mishra; Christian Ott 001; Antonio Franchi; Alin Albu-Schäffer (IEEE Control. Syst. Lett., 2023)

Passive Decoupled Multitask Controller for Redundant Robots. - Xuwei Wu; Christian Ott 001; Alin Albu-Schäffer; Alexander Dietrich (IEEE Trans. Control. Syst. Technol., 2023)

Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications. - Hrishik Mishra; Gianluca Garofalo; Alessandro Massimo Giordano; Marco De Stefano; Christian Ott 001; Andreas Kugi (IEEE Trans. Robotics, 2023)

Hybrid Force-Impedance Control for Fast End-Effector Motions. - Maged Iskandar; Christian Ott 001; Alin Albu-Schäffer; Bruno Siciliano; Alexander Dietrich (IEEE Robotics Autom. Lett., 2023)

Agile and Dynamic Standing-Up Control for Humanoids Using 3D Divergent Component of Motion in Multi-Contact Scenario. - Grazia Zambella; Robert Schuller; George Mesesan; Antonio Bicchi; Christian Ott 001; Jinoh Lee (IEEE Robotics Autom. Lett., 2023)

Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion. - George Mesesan; Robert Schuller; Johannes Englsberger; Christian Ott 001; Alin Albu-Schäffer (IEEE Trans. Robotics, 2023)

On Handling Variable Stiffness Parameters in Compliance Control via MPC. - Nikolas Thelenberg; Christian Ott 001 (ECC, 2024)

Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region. - Tobias Egle; Yashuai Yan; Dongheui Lee; Christian Ott 001 (Humanoids, 2024)

Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform. - Hemjyoti Das; Minh Nhat Vu; Tobias Egle; Christian Ott 001 (ICRA, 2024)

Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstrations. - Shail Jadav; Johannes Heidersberger; Christian Ott 001; Dongheui Lee (ICRA, 2024)

Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstration. - Shail Jadav; Johannes Heidersberger; Christian Ott 001; Dongheui Lee (CoRR, 2024)

An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints. - Robert Schuller; Jens Reinecke; Henry Maurenbrecher; Christian Ott 001; Alin Albu-Schäffer; Bastian Deutschmann; Fred Buettner; Jens Heim; Frank Benkert; Stefan Glueck (Frontiers Robotics AI, 2024)

Impact Analysis for the Planning of Targeted Non-Slippage Impacts of Robot Manipulators. - Annika Kirner; Christian Ott 001 (IEEE Robotics Autom. Lett., 2024)

Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction. - Huseyin Tugcan Dinc; Thomas Hulin; Christian Ott 001; Jee-Hwan Ryu (IEEE Trans. Haptics, 2024)

Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics. - Sait Sovukluk; Johannes Englsberger; Christian Ott 001 (IEEE Robotics Autom. Lett., 2024)

Is There a Closed-Loop Lagrangian for Hierarchical Motion Control? - Hrishik Mishra; Marco De Stefano; Christian Ott 001 (IEEE Control. Syst. Lett., 2025)

An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems. - Sait Sovukluk; Christian Ott 001 (CoRR, 2025)

Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics. - Sait Sovukluk; Robert Schuller; Johannes Englsberger; Christian Ott 001 (CoRR, 2025)

Motion Planning for Humanoid Locomotion: Applications to Homelike Environments. - George Mesesan; Robert Schuller; Johannes Englsberger; Máximo A. Roa; Jinoh Lee; Christian Ott 001; Alin Albu-Schäffer (IEEE Robotics Autom. Mag., 2025)

Variable Stiffness Actuation via 3D-Printed Nonlinear Torsional Springs. - Hannes Höppner; Annika Kirner; Joshua Göttlich; Linnéa Jakob; Alexander Dietrich; Christian Ott 001 (IEEE Robotics Autom. Lett., 2025)

Learning Swing-up Maneuvers for a Suspended Aerial Manipulation Platform in a Hierarchical Control Framework. - Hemjyoti Das; Minh Nhat Vu; Christian Ott 001 (CoRR, 2025)

Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces. - Sait Sovukluk; Grazia Zambella; Tobias Egle; Christian Ott 001 (CoRR, 2025)

Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks. - Erling Tveter; Bjørn Kåre Sæbø; Christian Ott 001; Kristin Y. Pettersen; Jan Tommy Gravdahl (IEEE Robotics Autom. Lett., 2025)

Elastic Structure Preserving Control for Flexible Joint Robots With Position-Controlled Actuators. - Jerónimo Moyrón; Christian Ott 001; Annika Kirner; Javier Moreno-Valenzuela (IEEE Trans. Control. Syst. Technol., 2025)