Christian Ott

According to our database1, Christian Ott authored at least 163 papers between 2001 and 2020.

Collaborative distances:
  • Dijkstra number2 of four.
  • Erdős number3 of four.

Timeline

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Bibliography

2020
The EuRoC Platforms.
Proceedings of the Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users, 2020

Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots.
IEEE Trans. Robotics, 2020

Coordination of thrusters, reaction wheels, and arm in orbital robots.
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

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

Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters.
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

On the Control of Translationally Flexible Base Manipulators.
Proceedings of the 2020 European Control Conference, 2020

Output Feedback Stabilization of an Orbital Robot.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target.
Proceedings of the 2020 American Control Conference, 2020

2019
Model-Free Friction Observers for Flexible Joint Robots With Torque Measurements.
IEEE Trans. Robotics, 2019

Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases.
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

Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots.
IEEE Robotics Autom. Lett., 2019

Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model.
IEEE Robotics Autom. Lett., 2019

Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks.
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

Development of SAM: cable-Suspended Aerial Manipulator.
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

Development of SAM: cable-Suspended Aerial Manipulator<sup>*</sup>.
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

Vibration Control for Manipulators on a Translationally Flexible Base.
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


A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements.
Proceedings of the 2019 American Control Conference, 2019

2018
Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots.
IEEE Trans. Robotics, 2018

Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion.
IEEE Robotics Autom. Lett., 2018

A Stabilizing Controller for Regulation of UAV With Manipulator.
IEEE Robotics Autom. Lett., 2018

Passivity Analysis and Control of Humanoid Robots on Movable Ground.
IEEE Robotics Autom. Lett., 2018

The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case.
IEEE Robotics Autom. Lett., 2018

Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses.
CoRR, 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

Passive Compliance Control of Aerial Manipulators.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Humanoid Teleoperation Using Task-Relevant Haptic Feedback.
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

Torque-Based Dynamic Walking - A Long Way from Simulation to Experiment.
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

DCM-Based Gait Generation for Walking on Moving Support Surfaces.
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 2018 European Control Conference, 2018

Task-space Tracking Control for Underactuated Aerial Manipulators.
Proceedings of the 2018 European Control Conference, 2018

2017
External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots.
IEEE Trans. Robotics, 2017

Continuous Legged Locomotion Planning.
IEEE Trans. Robotics, 2017

Energy Based Limit Cycle Control of Elastically Actuated Robots.
IEEE Trans. Autom. Control., 2017

Whole-Body Control [TC Spotlight].
IEEE Robotics Autom. Mag., 2017

Passive Hierarchical Impedance Control Via Energy Tanks.
IEEE Robotics Autom. Lett., 2017

Robust Motion Control of a Soft Robotic System Using Fractional Order Control.
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

Enhancing joint torque control of series elastic actuators with physical damping.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Optimal and robust walking using intrinsic properties of a series-elastic robot.
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
Limbed Systems.
Proceedings of the Springer Handbook of Robotics, 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

Limit Cycle Control Using Energy Function Regulation With Friction Compensation.
IEEE Robotics Autom. Lett., 2016

Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks.
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

A passivity-based admittance control design using feedback interconnections.
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

The DLR C-runner: Concept, design and experiments.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Integrating Measured Force Feedback in Passive Multilateral Teleoperation.
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
Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion.
IEEE Trans. Robotics, 2015

A Hybrid System Framework for Unified Impedance and Admittance Control.
J. Intell. Robotic Syst., 2015

An overview of null space projections for redundant, torque-controlled robots.
Int. J. Robotics Res., 2015

Prioritized multi-task compliance control of redundant manipulators.
Autom., 2015

Biologically Inspired Dead-beat controller for bipedal running in 3D.
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

Biologically inspired deadbeat control for running on 3D stepping stones.
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
Torque-based multi-task and balancing control for humanoid robots.
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

Humanoid compliant whole arm dexterous manipulation: Control design and experiments.
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

A model-free approach to vibration suppression for intrinsically elastic robots.
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

Control applications of TORO - A Torque controlled humanoid robot.
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Overview of the torque-controlled humanoid robot TORO.
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Trajectory optimization for walking robots with series elastic actuators.
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

On the closed form computation of the dynamic matrices and their differentiations.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Three-dimensional bipedal walking control using Divergent Component of Motion.
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

Modal limit cycle control for variable stiffness actuated robots.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Orbital stabilization of mechanical systems through semidefinite Lyapunov functions.
Proceedings of the American Control Conference, 2013

2012
Dual-Arm Manipulation.
Proceedings of the Towards Service Robots for Everyday Environments, 2012

Comparison of object-level grasp controllers for dynamic dexterous manipulation.
Int. J. Robotics Res., 2012

Incremental learning of full body motion primitives and their sequencing through human motion observation.
Int. J. Robotics Res., 2012

Gangstabilisierung humanoider Roboter mittels Capture Point Regelung.
Autom., 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

Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems.
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

Walking control of fully actuated robots based on the Bipedal SLIP model.
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

Preface.
Adv. Robotics, 2011

Subspace-oriented energy distribution for the Time Domain Passivity Approach.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Bipedal walking control based on Capture Point dynamics.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Physical human robot interaction in imitation learning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Posture and balance control for biped robots based on contact force optimization.
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

Incremental motion primitive learning by physical coaching using impedance control.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Unified Impedance and Admittance Control.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Development of a biped robot with torque controlled joints.
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

Towards a Reference Model for SOA Governance.
Proceedings of the CAiSE Forum 2010, Hammamet, Tunisia, June 9-11, 2010, 2010

Foundations of a Reference Model for SOA Governance.
Proceedings of the Information Systems Evolution, 2010

2009
Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

Base force/torque sensing for position based Cartesian impedance control.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Mimetic communication with impedance control for physical human-robot interaction.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008
On the Passivity-Based Impedance Controlof Flexible Joint Robots.
IEEE Trans. Robotics, 2008

Soft robotics.
IEEE Robotics Autom. Mag., 2008

Impedance control for variable stiffness mechanisms with nonlinear joint coupling.
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

Incremental learning of full body motion primitives for humanoid robots.
Proceedings of the 8th IEEE-RAS International Conference on Humanoid Robots, 2008

Cartesian Impedance Control of Redundant and Flexible-Joint Robots
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

Impedance Behaviors for Two-handed Manipulation: Design and Experiments.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

A humanoid upper body system for two-handed manipulation.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2006
Passivity-based Object-Level Impedance Control for a Multifingered Hand.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

A Hands-on-robot for Accurate Placement of Pedicle Screws.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

A Humanoid Two-Arm System for Dexterous Manipulation.
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
Decoupling based Cartesian impedance control of flexible joint robots.
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


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