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)

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)

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)

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

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

On Time-Optimal Control of Elastic Joints under Input Constraints. - Manuel Keppler; Alessandro De Luca 001 (CDC, 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)

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)

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

Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach. - Nico Mansfeld; Manuel Keppler; Sami Haddadin (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)

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)

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)

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

Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint. - Annika Schmidt; Filip Pasic; Davide Calzolari; Arne Sachtler; Thomas Gumpert; Manuel Keppler; Alin Albu-Schäffer (ECC, 2024)

Tele-Running: Trajectory Generation for Monopod Robots by Teleoperation. - David Wandinger; Annika Schmidt; Antonin Raffin; Alin Albu-Schäffer; Manuel Keppler (SMC, 2024)

Robust Elastic Structure Preserving Control for High Impedance Rendering of Series Elastic Actuator. - Hyunwook Lee; Jinoh Lee; Manuel Keppler; Sehoon Oh (IEEE Robotics Autom. Lett., 2024)

Impact Robustness Versus Torque Bandwidth: A Design Guide for Differential Elastic Actuators. - Anton Leonhard Shu; Clara Raschel; Manuel Keppler; Armin Wedler; Martin Görner (IEEE Trans. Robotics, 2024)

Robot Control [TC Spotlight]. - Cosimo Della Santina; Sylvia L. Herbert; Manuel Keppler; Kaoru Yamamoto (IEEE Robotics Autom. Mag., 2025)