Items where Subject is "Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems"

Abi-Farraj, Firas and Henze, Bernd and Ott, Christian and Robuffo Giordano, Paolo and Roa Garzon, Máximo Alejandro (2019) Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks. IEEE Robotics and Automation Letters, 4 (2), pp. 2023-2030. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/lra.2019.2898041. ISSN 2377-3766. Volltext nicht online.

Abi-Farraj, Firas and Henze, Bernd and Werner, Alexander and Panzirsch, Michael and Ott, Christian and Roa Garzon, Máximo Alejandro (2018) Humanoid Teleoperation Using Task-Relevant Haptic Feedback. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, pp. 5010-5017. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/iros.2018.8593521. ISBN 978-153868094-0. ISSN 2153-0858. Volltext nicht online.

Abuter Grebe, Nicolas Omar (2017) Differential Dynamic Programming for Aerial Robots using an Aerodynamics Model. DLR-Interner Bericht. DLR-IB-RM-OP-2017-126. Master's. Delft University of Technology. 102 S. Volltext nicht frei.

Albu-Schäffer, Alin and Sachtler, Arne (2023) What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots? In: 18th International Symposium of Robotics Research, ISRR 2022, 27, pp. 468-484. Springer Nature Switzerland. 18th International Symposium of Robotics Research, ISRR 2022, 2022-09-25 - 2022-09-30, Geneva, Switzerland. doi: 10.1007/978-3-031-25555-7_32. ISBN 978-303125554-0. ISSN 2511-1256.

Albu-Schäffer, Alin and Sachtler, Arne (2023) Redundancy Resolution at Position Level. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2023.3309097. ISSN 1552-3098.

Altinsoy, Ercan M. and Hulin, Thomas and Vogel, Uwe and Bobbe, Tina and Dachselt, Raimund and Klamka, Konstantin and Krzywinski, Jens and Lenk, Simone and Lüneburg, Lisa-Marie and Merchel, Sebastian and Nocke, Andreas and Singh, Harsimran and Schwendicke, Anna and Winger, Hans (2021) Sensors and actuators. In: tactile Academic Press. pp. 223-247. doi: 10.1016/B978-0-12-821343-8.00022-8. ISBN 978-0-12-821343-8. Volltext nicht online.

Amara, Vishnu Dev (2016) Exploration of human control strategies for actuating elastic joints - an optimal control approach. DLR-Interner Bericht. DLR-IB-RM-OP-2016-359. TU Delft. Volltext nicht frei.

Angelini, Franco and Angelini, Pierangela and Angiolini, Claudia and Bagella, Simonetta and Bonomo, Fabio and Caccianiga, Marco and Della Santina, Cosimo and Gigante, Daniela and Hutter, Marco and Nanayakkara, Thrishantha and Remagnino, Paolo and Torricelli, Diego and Garabini, Manolo (2023) Robotic Monitoring of Habitats: The Natural Intelligence Approach. IEEE Access, 11, pp. 72575-72591. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/ACCESS.2023.3294276. ISSN 2169-3536.

Angelini, Franco and Della Santina, Cosimo and Garabini, Manolo and Bianchi, Matteo and Bicchi, Antonio (2020) Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots. Frontiers in Robotics and AI, 7. Frontiers Media S.A. doi: 10.3389/frobt.2020.00117. ISSN 2296-9144.

Arduini, Riccardo (2022) Learning Motion and Stiffness Behaviours from Demonstrations for a Blunt Dissection Task. DLR-Interner Bericht. DLR-IB-RM-OP-2023-81. Master's. Politecnico Milano. 165 S. Volltext nicht frei.

Artigas, Jordi and Balachandran, Ribin and De Stefano, Marco and Panzirsch, Michael and Lampariello, Roberto and Albu-Schäffer, Alin and Harder, Jan and Letschnik, Jürgen (2016) Teleoperation for On-Orbit Servicing Missions through the ASTRA Geostationary Satellite. In: IEEE Aerospace Conference Proceedings. Aerospace Conference, 2016 IEEE, 2016-03-05 - 2016-03-12, Yellowstone Conference Center, Big Sky, Montana,. doi: 10.1109/AERO.2016.7500785. Volltext nicht frei.

Artigas, Jordi and De Stefano, Marco and Rackl, Wolfgang and Lampariello, Roberto and Brunner, Bernhard and Bertleff, Wieland and Burger, Robert and Porges, Oliver and Giordano, Alessandro and Borst, Christoph and Albu-Schäffer, Alin (2015) The OOS-SIM: An On-ground Simulation Facility For On-Orbit Servicing Robotic Operations. In: IEEE International Conference on Robotics and Automation (ICRA). 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015-05-26 - 2015-05-30, Seattle, Washington, USA. doi: 10.1109/icra.2015.7139588.

Artigas Esclusa, Jordi (2014) Time Domain Passivity Control for Delayed Teleoperation. Dissertation, Universidat Politecnica de Madrid.

Artigas Esclusa, Jordi and Balachandran, Ribin and Riecke, Cornelia and Stelzer, Martin and Weber, Bernhard and Ryu, Jee-Hwan and Albu-Schäffer, Alin Olimpiu (2016) KONTUR-2: Force-feedback Teleoperation from the International Space Station. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation, 2016-05-16 - 2016-05-21, Stockholm, Sweden. doi: 10.1109/icra.2016.7487246.

Artigas Esclusa, Jordi and Riecke, Cornelia and Weber, Bernhard and Stelzer, Martin and Balachandran, Ribin and Schaetzle, Simon and Bayer, Ralph and Steinmetz, Bernhard-Michael and Vogel, Jörg and Brunner, Bernhard and Albu-Schäffer, Alin Olimpiu and Guk, Mikael and Zaborovskyi, V and Kondratiev, A and Muliukha, V and Silinenko, Alexander and Shmakov, O (2016) Force-feedback teleoperation of on- ground robots from the international space station in the frame of the KONTUR-2 experiment. Extreme Robotics Conference 2016, 2016-11-24 - 2016-11-25, Saint Petersburg, Russia.

Baaij, Thomas and Holkenborg, Marn Klein and Stölzle, Maximilian and van der Tuin, Daan and Naaktgeboren, Jonatan and Babuška, Robert and Della Santina, Cosimo (2022) Learning 3D shape proprioception for continuum soft robots with multiple magnetic sensors. Soft Matter, 19 (1), pp. 44-56. Royal Society of Chemistry. doi: 10.1039/D2SM00914E. ISSN 1744-683X.

Balachandran, Ribin (2022) A Stable and Transparent Framework for Adaptive Shared Control of Robots. Dissertation, Technische Universitaet Muenchen.

Balachandran, Ribin and Artigas, Jordi and Mehmood, Usman and Ryu, J.H. (2016) Performance Comparison of Wave Variable Transformation and Time Domain Passivity Approaches for Time-Delayed Teleoperation: Preliminary Results. In: IEEE International Conference on Intelligent Robots and Systems. Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, 2016-10-09 - 2016-10-14, Daejeon, Korea. doi: 10.1109/iros.2016.7759087. Volltext nicht frei.

Balachandran, Ribin and Hrishik, Mishra and Panzirsch, Michael and Ott, Christian (2021) A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021-05-30 - 2021-06-05, Xi'an, China. doi: 10.1109/ICRA48506.2021.9561192. ISBN 978-172819077-8. ISSN 1050-4729. Volltext nicht frei.

Balachandran, Ribin and Jorda, Mikael and Artigas Esclusa, Jordi and Ryu, J.H. and Khatib, Oussama (2017) Passivity-based Stability in Explicit Force Control of Robots. In: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. IEEE International Conference on Robotics and Automation ICRA, 2017-05-29 - 2017-06-03, Singapore. doi: 10.1109/ICRA.2017.7989050. ISBN 978-150904633-1. ISSN 1050-4729.

Balachandran, Ribin and Mishra, Hrishik and Cappelli, Matteo and Weber, Bernhard and Secchi, Cristian and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2020) Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters. In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-08-31, Paris, France (Online). doi: 10.1109/ICRA40945.2020.9196941. ISBN 978-172817395-5. ISSN 1050-4729. Volltext nicht frei.

Balachandran, Ribin and Panzirsch, Michael and de Stefano, Marco and Singh, Harsimran and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2021) Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference. IEEE Robotics and Automation Letters, pp. 3513-3520. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3064452. ISSN 2377-3766. Volltext nicht frei.

Balachandran, Ribin and Ryu, Jee-Hwan and Jorda, Mikael and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2020) Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation. In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-08-31, Paris, France (Online). doi: 10.1109/ICRA40945.2020.9197420. ISBN 978-172817395-5. ISSN 1050-4729. Volltext nicht frei.

Balachandrand, Ribin and Kozlova, Natalia and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2018) Non-Linear Local Force Feedback Control for Haptic Interfaces. In: 12th International IFAC Symposium on Robot Control, 51 (22). 12th IFAC Symposium on Robot Control, 2018-08-26 - 2018-08-30, Budapest, Hungary. doi: 10.1016/j.ifacol.2018.11.587. ISSN 2405-8963.

Baldauf, Niklas and Lubiniecki, Toni and Lakatos, Kristin and Panagiotopoulos, Nickolaos (2023) Learning-based motion control of a rover on unknown ground. In: ESA 12th International Conference on Guidance, Navigation & Control Systems (GNC). ESA. 12th International Conference on Guidance, Navigation & Control Systems (GNC), 2023-06-12 - 2023-06-16, Sopot, Poland. doi: 10.5270/esa-gnc-icatt-2023-061.

Balmer, Georg Robert (2015) Modelling and Control of a Fixed-wing UAV for Landings on Mobile Landing Platforms. DLR-Interner Bericht. DLR-IB 572-2015/35. Master's. KTH Royal Institute of Technology. 73 S.

Balmer, Georg Robert and Muskardin, Tin and Wlach, Sven and Kondak, Konstantin (2018) Enhancing Model-Free Wind Estimation for Fixed-Wing UAV. In: 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018. 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018-06-12 - 2018-06-15, Dallas, TX, USA. doi: 10.1109/ICUAS.2018.8453419. ISBN 978-153861353-5. Volltext nicht frei.

Banerjee, Premankur (2021) ViESTac: A Multimodal VR Evaluation Suite for Novel Tactile Devices. DLR-Interner Bericht. DLR-IB-RM-OP-2021-214. Master's. Technische Universität München. 104 S.

Banerjee, Premankur and Muschter, Evelyn and Singh, Harsimran and Weber, Bernhard and Hulin, Thomas (2023) Towards a VR Evaluation Suite for Tactile Displays in Telerobotic Space Missions. In: 2023 IEEE Aerospace Conference, AERO 2023, pp. 1-11. IEEE. IEEE Aerospace Conference, 2023-03-04 - 2023-03-11, Big Sky, MT, USA. doi: 10.1109/AERO55745.2023.10115847. ISBN 978-166549032-0. ISSN 1095-323X.

Barthelmes, Stefan and Buse, Fabian and Chalon, Maxime and Hacker, Franz and Langofer, Viktor and Sedlmayr, Hans-Jürgen and Skibbe, Juliane (2023) Driving in Milli-G: The Flight Model of the MMX Rover Locomotion Subsystem and its Integration & Testing in the Rover. In: 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA). 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023-10-18 - 2023-10-20, Leiden, Niederlande.

Beck, Fabian (2016) An Algorithm to Determine the Self-Motion Manifold of a Robotic System Consisting of a DLR Lightweight Robot and Linear Axis. DLR-Interner Bericht. DLR-IB-RM-OP-2016-328. Bachelor's. Technische Universität Ilmenau. Volltext nicht frei.

Beck, Fabian (2017) Task-space Control of an Unmanned Helicopter Equipped with a 7-DoF Robot Arm. DLR-Interner Bericht. DLR-IB-RM-OP-2017-270. Master's. Technische Universität Ilmenau. 102 S. Volltext nicht frei.

Beck, Fabian and Garofalo, Gianluca and Ott, Christian (2019) Vibration Control for Manipulators on a Translationally Flexible Base. In: 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE International Conference on Robotics and Automation (ICRA), 2019-05-20 - 2019-05-24, Montreal, Canada. doi: 10.1109/ICRA.2019.8793904. ISBN 978-153866026-3. ISSN 10504729. Volltext nicht frei.

Beck, Fabian and Rehermann, Maximilian and Reger, Johann and Ott, Christian (2023) Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions. In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022, pp. 261-268. IEEE. IEEE-RAS 21st International Conference on Humanoid Robots, 2022-11-28 - 2022-11-30, Ginowan, Japan. doi: 10.1109/Humanoids53995.2022.10000146. ISBN 979-835030979-9. ISSN 2164-0572. Volltext nicht frei.

Beck, Fabian and Sakamoto, Noboru (2023) Optimal Stabilization of Periodic Orbits. IFAC-PapersOnLine, 56 (2), pp. 7509-7515. IFAC Secretariat. doi: 10.1016/j.ifacol.2023.10.648. ISSN 2405-8963.

Beck, Fabian and Sakamoto, Noboru and Ott, Christian (2021) Control of a Class of Underactuated Systems by Successive Submanifold Stabilization. In: 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021, 54 (19). IFAC Secretariat. 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2021-10-11 - 2021-10-13, Berlin, Germany. doi: 10.1016/j.ifacol.2021.11.102. ISSN 2405-8963.

Benedikt, Fabian (2019) Konzeption und Konstruktion einer mobilen robotischen Einheit für das SwarmRail-System. DLR-Interner Bericht. DLR-IB-RM-OP-2019-57. Bachelor's. Hochschule für angewandte Wissenschaften München. Volltext nicht frei.

Bernauer, Hannah (2018) Two-Armed Object-Level Impedance Control of Humanoid Robots: Design, Validation and Comparison. DLR-Interner Bericht. DLR-IB-RM-OP-2018-66. Master's. TUM. 75 S. Volltext nicht frei.

Bertrand, Jean and Tardivel, Simon and IJpelaan, Frans and Remetean, Emile and Torres, Alex and Mary, Stéphane and Chalon, Maxime and Buse, Fabian and Obermeier, Thomas and Smisek, Michal and Wedler, Armin and Reill, Josef and Grebenstein, Markus (2019) Roving on Phobos: Challenges of the MMX Rover for Space Robotics. In: Proceedings of 15th Symposium on Advanced Space Technologies in Robotics and Automation. 15th Symposium on Advanced Space Technologies in Robotics and Automation, 2019-05-27 - 2019-05-28, Noordwijk, Netherlands.

Besselaar, Lars and Della Santina, Cosimo (2022) One-shot Learning Closed-loop Manipulation of Soft Slender Objects Based on a Planar Polynomial Curvature Model. In: 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022. IEEE. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 2022-04-04 - 2022-04-08, Edinburgh, United Kingdom. doi: 10.1109/RoboSoft54090.2022.9762089. ISBN 978-1-6654-0828-8. Volltext nicht online.

Bhaskar, Amisha and Dantu, Swati and Roy, Spandan and Lee, Jinoh and Baldi, Simone (2021) Adaptive Artificial Time Delay Control for Bipedal Walking with Robustification to State-dependent Constraint Forces. In: 20th International Conference on Advanced Robotics, ICAR 2021, pp. 410-415. 20th International Conference on Advanced Robotics, 2021-12-06 - 2021-12-10, Ljubljana, Slovenia (Virtual). doi: 10.1109/ICAR53236.2021.9659482. ISBN 978-166543684-7.

Borja, Pablo and Della Santina, Cosimo and Dabiri, Azita (2022) On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems. IEEE Control Systems Letters, 6, pp. 3433-3438. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3185655. ISSN 2475-1456.

Budjakoski, Nikola (2021) Optimal Robotic Setup of Workplaces in Minimally Invasive Robotic Surgery. Master's, Technische Universität München. Volltext nicht frei.

Burandt, Daniel (2023) Dynamic Guiard: Haptic Feedback of Disturbance Effects and Relative Dynamic Motion in Robotics. Master's, Ludwig-Maximilians-Universität München.

Buse, Fabian and Baroukh, J. and Barthelmes, Stefan and Bertrand, Jean and Bodenmüller, Tim and Chalon, Maxime and Lagabarre, Sandra and Murdoch, Naomi and Skibbe, Juliane and Smisek, Michal and Tardivel, Simon and Vayugundla, Mallikarjuna and Vernazza, Pierre (2023) Mobility on the Surface of Phobos for the MMX Rover - Simulation-aided Movement planning. In: 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA). 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023-10-18 - 2023-10-20, Leiden, Niederlande.

Buse, Fabian and Barthelmes, Stefan and Chalon, Maxime and Langofer, Viktor and Bertleff, Wieland and Lichtenheldt, Roy and Skibbe, Juliane and Bihler, Markus and Holderried, Roman and Reill, Josef and Vodermayer, Bernhard and Stubbig, Leon and Bayer, Ralph and Vernazza, Pierre and Murdoch, Naomi and Ulamec, Stephan and Michel, Patrick (2021) Wheeled locomotion in milli-gravity: A technology experiment for the MMX Rover. In: Proceedings of the International Astronautical Congress, IAC. 72nd International Astronautical Congress (IAC), 2021-10-25 - 2021-10-29, Dubai, United Arab Emirates. ISSN 0074-1795.

Bussmann, Kristin and Dietrich, Alexander and Ott, Christian (2018) Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation. In: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, pp. 910-917. IEEE. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018-05-21 - 2018-05-25, Brisbane, Australien. doi: 10.1109/ICRA.2018.8460533. ISBN 978-153863081-5. ISSN 1050-4729.

Calzolari, Davide (2018) Coordinated Control Strategies for a Space Robot. DLR-Interner Bericht. DLR-IB-RM-OP-2018-44. Master's. Technische Universität München. 102 S. Volltext nicht frei.

Calzolari, Davide and Della Santina, Cosimo and Giordano, Alessandro Massimo and Schmidt, Annika and Albu-Schäffer, Alin Olimpiu (2023) Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped. IEEE Robotics and Automation Letters, 8 (4), pp. 2285-2292. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3249631. ISSN 2377-3766. Volltext nicht online.

Cavenago, Francesco and Giordano, Alessandro Massimo and Garofalo, Gianluca and Massari, Mauro (2021) Unexpected collision detection, estimation and reaction for an orbital robot. Journal of Guidance, Control, and Dynamics. American Institute of Aeronautics and Astronautics (AIAA). doi: 10.2514/1.G005585. ISSN 0731-5090. Volltext nicht online.

Cavenago, Francesco and Giordano, Alessandro Massimo and Massari, Mauro (2019) Contact force observer for space robots. In: 58th IEEE Conference on Decision and Control, CDC 2019. 2019 IEEE 58th Conference on Decision and Control (CDC), 2019-12-11 - 2019-12-13, Nice, France. doi: 10.1109/CDC40024.2019.9029285.

Cavenago, Francesco and Giordano, Alessandro Massimo and Massari, Mauro (2021) Contact detection, isolation and estimation for orbital robots through an observer based on a centroid-joints dynamics. Acta Astronautica. Elsevier. doi: 10.1016/j.actaastro.2021.01.001. ISSN 0094-5765. Volltext nicht online.

Cenceschi, Lorenzo and Angelini, Franco and Della Santina, Cosimo and Bicchi, Antonio (2022) PIσ - PIσ Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree. In: 2021 European Control Conference, ECC 2021, p. 1042. IEEE. 2021 European Control Conference, ECC 2021, 2021-06-29 - 2021-07-02, Delft (virtual). doi: 10.23919/ECC54610.2021.9655196. ISBN 978-946384236-5. Volltext nicht online.

Chalon, Maxime (2013) Modeling and control of an antagonistically actuated tendon driven anthropomorphic hand. Dissertation, Mines ParisTech.

Chalon, Maxime and Maier, Maximilian and Bertleff, Wieland and Beyer, Alexander and Bayer, Ralph and Friedl, Werner and Neugebauer, Philipp and Obermeier, Thomas and Sedlmayr, Hans-Jürgen and Seitz, Nikolaus and Stemmer, Andreas (2015) Spacehand: a multi-fingered robotic hand for space. ASTRA 2015, Nordwick, Netherlands.

Chalon, Maxime and d'Andréa-Novel, Brigitte (2014) Backstepping experimentally applied to an antagonistically driven finger with flexible tendons. Elsevier Ltd.. IFAC World Congress, 2014-08-24 - 2014-08-29, Captown, South Africa. doi: 10.3182/20140824-6-ZA-1003.00155.

Chen, Zhaopeng and Lii, Neal Y. and Wimböck, Thomas and Fan, Shaowei and Liu, Hong and Albu-Schäffer, Alin (2014) EXPERIMENTAL ANALYSIS ON SPATIAL AND CARTESIAN IMPEDANCE CONTROL FOR THE DEXTEROUS DLR/HIT II HAND. International Journal of Robotics & Automation, 29 (1), pp. 1-13. ACTA Press. doi: 10.2316/Journal.206.2014.1.206-3669. ISSN 0826-8185.

Chen, Zhaopeng and Ott, Christian and Lii, Neal Y. (2015) A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework. In: International Conference on Intelligent Robotics and Applications. Springer. The 8th International Conference on Intelligent Robotics and Applications, 2015-08-24 - 2015-08-27, Portsmouth, UK. doi: 10.1007/978-3-319-22876-1_33.

Chen, Zhaopeng and Wimböck, Thomas and Roa, Maximo A. and Pleintinger, Benedikt and Neves, Miguel and Ott, Christian and Borst, Christoph and Lii, Neal Y. (2015) An Adaptive Compliant Multi-finger Approach-To-Grasp Strategy for Objects with Position Uncertainties. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4911-4918. IEEE. 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015-05-26 - 2015-05-30, Seattle, Washington, USA. doi: 10.1109/icra.2015.7139881.

Choe, JongHun and Kim, Joon-Ha and Hong, Seungwoo and Lee, Jinoh and Park, Hae-Won (2023) Seamless Reaction Strategy for Bipedal Locomotion Exploiting Real-Time Nonlinear Model Predictive Control. IEEE Robotics and Automation Letters, 8 (8), pp. 5031-5038. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3291273. ISSN 2377-3766.

Choi, Hyeonseok and Balachandrand, Ribin and Ryu, Jee-Hwan (2022) Chattering-Free Time Domain Passivity Approach. IEEE Transactions on Haptics, 15 (3), pp. 572-581. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TOH.2022.3178426. ISSN 1939-1412. Volltext nicht frei.

Choi, Hyeonseok and Kim, Nam Gyun and Jafari, Aghil and Singh, Harsimran and Ryu, Jee-Hwan (2022) Virtual Inertia as an Energy Dissipation Element for Haptic Interfaces. IEEE Robotics and Automation Letters, 7 (2), pp. 2708-2715. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3144492. ISSN 2377-3766.

Choquenaira Taipe, Yadira Valentina (2023) Modification of SFA to Enlarge the Impedance Range and Render High Stiffness Contact. DLR-Interner Bericht. DLR-IB-RM-OP-2023-82. Bachelor's. Technical University of Munich. Volltext nicht frei.

Christiaan, van Ommeren (2022) Analysis and control of flexible-joint lightweight robots. Master's, TUM. Volltext nicht frei.

Cieslak, J. and Henry, D. and Colmenarejo, P. and Branco, J. and Santos, N. and Serra, P. and Telaar, Juergen and Strauch, H. and Giordano, Alessandro Massimo and De Stefano, Marco and Ott, Christian and Rainer, Matthias and Jaworski, J. and Papadopoulos, Evangelos and Visentin, Gianfranco and Ankersen, Finn and Fernandez, J. G. (2019) Assessment of a Supervisory Fault-Hiding Scheme in a Classical Guidance, Navigation and Control Setup: the e.Deorbit mission. In: Conference on Control and Fault-Tolerant Systems, SysTol. 4th Conference on Control and Fault Tolerant Systems (SysTol), 2019-09-18 - 2019-09-20, Casablanca, Morocco. doi: 10.1109/SYSTOL.2019.8864753. Volltext nicht online.

Coelho, Andre and Albu-Schäffer, Alin and Sachtler, Arne and Hrishik, Mishra and Bicego, Davide and Ott, Christian and Franchi, Antonio (2023) EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. In: 61st IEEE Conference on Decision and Control, CDC 2022, pp. 2437-2442. IEEE. 2022 IEEE 61st Conference on Decision and Control (CDC), 2022-12-06 - 2022-12-09, Cancún, Mexico. doi: 10.1109/CDC51059.2022.9992915. ISBN 978-166546761-2. ISSN 0743-1546. Volltext nicht frei.

Coelho, Andre and Ott, Christian and Singh, Harsimran and Lizarralde, Fernando and Kondak, Konstantin (2019) Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation. In: International Conference on Advanced Robotics, Proceedings, ICAR, pp. 695-701. IEEE. 19th International Conference on Advanced Robotics, 2019-12-02 - 2019-12-06, Belo Horizonte, Brazil. doi: 10.1109/ICAR46387.2019.8981661.

Coelho, Andre and Singh, Harsimran and Muskardin, Tin and Balachandran, Ribin and Kondak, Konstantin (2018) Smoother Position-Drift Compensation for Time Domain Passivity Approach Based Teleoperation. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, pp. 5525-5532. IEEE. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/IROS.2018.8594125. ISBN 978-153868094-0. ISSN 2153-0858.

Colmenarejo, P. and Santos, Nuno and Serra, Pedro and Telaar, J. and Strauch, Hans and De Stefano, Marco and Giordano, Alessandro Massimo and Mishra, Hrishik and Lampariello, Roberto and Ott, Christian and Henry, Davide and Visentin, Gianfranco (2021) Results of the comrade project: combined control for robotic space- craft and manipulator in servicing missions: active debris removal and re-fuelling. In: 11th International ESA Conference on Guidance, Navigation & Control Systems. 11th international ESA Conference on Guidance, Navigation and Control Systems (GNC), 2021-06, Virtual Conference. Volltext nicht frei.

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Deutschmann, Bastian (2020) Modeling and Control for a Class of Tendon-Driven Continuum Mechanisms. Dissertation, Leibniz Universität Hannover.

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Deutschmann, Bastian and Konietschke, Rainer and Ott, Christian (2014) Task Specific Evaluation of Kinematic Designs for Minimally Invasive Surgery. Workshop on Medical and Service Robotics, 2014-07-10 - 2014-07-12, Lausanne, Switzerland. Volltext nicht frei.

Deutschmann, Bastian and Konietschke, Rainer and Ott, Christian (2016) Kinematic Analysis of Instruments for Minimally Invasive Robotic Surgery: Generalization of the Reference Task. In: New Trends in Medical and Service Robots Mechanism and Machine Science, 38. Springer. pp. 141-152. doi: 10.1007/978-3-319-23832-6. ISBN 978-3-319-23831-9. ISSN 2211-0984.

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Deutschmann, Bastian and Monje, Concepcion Alicia and Ott, Christian (2020) Multi-input multi-output fractional-order control of an underactuated continuum mechanism. International Journal of Advanced Robotic Systems, 17 (6), pp. 1-11. SAGE Publications. doi: 10.1177/1729881420969578. ISSN 1729-8806. Volltext nicht frei.

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Dietrich, Alexander and Ott, Christian and Park, Jaeheung (2018) The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case. IEEE Robotics and Automation Letters, 3 (2), pp. 1120-1127. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2792154. ISSN 2377-3766.

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Dinc, Hüseyin Tugcan (2020) Development of a Parallel Spherical Robotic Mechanism as a Haptic Interaction Device for Telerobotic Applications. DLR-Interner Bericht. DLR-IB-RM-OP-2020-147. Master's. Deggendorf Institute of Technology. 65 S. Volltext nicht frei.

Dinc, Hüseyin Tugcan and Hulin, Thomas and Ott, Christian and Ryu, Jee-Hwan (2024) Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction. IEEE Transactions on Haptics, 17 (1), pp. 100-107. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TOH.2024.3359230. ISSN 1939-1412.

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Ehlert, Tristan Hagen (2023) Energy-efficient Locomotion of Elastic Snake Robots. Master's, Technische Universität München. Volltext nicht frei.

Elfferich, Johannes F. and Dodou, Dimitra and Della Santina, Cosimo (2022) Soft Robotic Grippers for Crop Handling or Harvesting: A Review. IEEE Access, 10, pp. 75428-75443. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/ACCESS.2022.3190863. ISSN 2169-3536.

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Englsberger, Johannes and Dietrich, Alexander and Mesesan, George-Adrian and Garofalo, Gianluca and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2020) MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. In: 16th Robotics: Science and Systems, RSS 2020. Robotics: Science and Systems (RSS) 2020, 2020-07-12 - 2020-07-16, Corvallis, Oregon, USA (virtual due to Corona Pandemic). doi: 10.15607/RSS.2020.XVI.077. ISBN 978-0-9923747-6-1. ISSN 2330-765X.

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Englsberger, Johannes and Koolen, Twan and Bertrand, Sylvain and Pratt, Jerry and Ott, Christian and Albu-Schäffer, Alin (2014) Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. In: IEEE RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems (IROS), 2014, 2014-09-14 - 2014-09-18, Chicago, USA. doi: 10.1109/iros.2014.6943128.

Englsberger, Johannes and Kozlowski, Pawel and Ott, Christian (2015) Biologically Inspired Dead-beat controller for bipedal running in 3D. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IROS 2015, 2015-09-28 - 2015-10-02, Hamburg, Deutschland. doi: 10.1109/iros.2015.7353491.

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Englsberger, Johannes and Kozlowski, Pawel and Ott, Christian (2015) Biologically Inspired Deadbeat control for running on 3D stepping stones. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots 2015, 2015-11-03 - 2015-11-05, Seoul, Korea. doi: 10.1109/HUMANOIDS.2015.7363501. Volltext nicht frei.

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Englsberger, Johannes and Mesesan, George and Ott, Christian (2017) Smooth trajectory generation and push-recovery based on Divergent Component of Motion. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017-09-24 - 2017-09-28, Vancouver, Canada. doi: 10.1109/iros.2017.8206324.

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Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin (2013) A method for rough terrain locomotion based on Divergent Component of Motion. DGR-Tage (Deutsche Gesellschaft für Robotik), 2013-10-07 - 2013-10-08, München.

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Englsberger, Johannes and Werner, Alexander and Ott, Christian and Henze, Bernd and Roa, Maximo A. and Garofalo, Gianluca and Burger, Robert and Beyer, Alexander and Eiberger, Oliver and Schmid, Korbinian and Albu-Schäffer, Alin (2014) Overview of the torque-controlled humanoid robot TORO. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots 2014, 2014-11-18 - 2014-11-20, Madrid, Spanien.

Eßer, Julian (2018) Analysis of a Physically Implementable Pantograph-Leg Mechanism with SLIP Characteristics. DLR-Interner Bericht. DLR-IB-RM-OP-2018-208. Bachelor's. Universität Duisburg-Essen. 72 S. Volltext nicht frei.

Fahmi, Ahmed Mohamed Shamel and Hulin, Thomas (2018) Inertial Properties in Haptic Devices: Non-Linear Inertia Shaping vs. Force Feedforward. In: IFAC Proceedings Volumes (IFAC-PapersOnline). SYROCO 2018, 2018-08-27 - 2018-08-30, Budapest, Hungary. doi: 10.1016/j.ifacol.2018.11.521. Volltext nicht frei.

Federigi, Yuri (2017) Balancing and Static Walking Control for a Compliantly Actuated Quadruped Exploiting System Inherent Elasticities. DLR-Interner Bericht. DLR-IB-RM-OP-2017-229. Master's. University of Pisa.

Fialho Coelho, Andre (2017) System Identification and Parameter Space Control Design for a Small Unmanned Aircraft. DLR-Interner Bericht. DLR-IB-RM-OP-2017-164. Bachelor's. Instituto Federal Fluminense (IFF), Campos, Brazil. 57 S.

Fialho Coelho, Andre and Sarkisov, Iurii and Lee, Jongseok and Balachandran, Ribin and Franchi, Antonio and Kondak, Konstantin and Ott, Christian (2021) Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View. In: 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, pp. 994-1002. IEEE. 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021-06-15 - 2021-06-18, Athens, Greece. doi: 10.1109/ICUAS51884.2021.9476739. ISBN 978-073813115-3. ISSN 2575-7296.

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Florek-Jasinska, Monika and Wimböck, Thomas and Ott, Christian (2014) Humanoid compliant whole arm dexterous manipulation: Control design and experiments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X), pp. 1616-1621. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014-09-14 - 2014-09-18, Chicago, USA. doi: 10.1109/iros.2014.6942771. ISSN 1042-296X. Volltext nicht online.

Fracaroli Pavani, Marcus Felipe (2018) Implementation and Analysis of a Model Predictive Controller for Landing Fixed-Wing Aircraft on Mobile Platforms. DLR-Interner Bericht. DLR-IB-RM-OP-2018-78. Master's. TU München. 102 S. Volltext nicht frei.

Gabellieri, Chiara and Sarkisov, Iurii and Coelho, Andre and Pallottino, Lucia and Kondak, Konstantin and Kim, MinJun (2021) Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. IEEE. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020-10-24 - 2021-01-24, Las Vegas, NV, USA. doi: 10.1109/IROS45743.2020.9340703. ISBN 978-172816212-6. ISSN 2153-0858. Volltext nicht online.

Gallardo, Abril and Mishra, Hrishik and Giordano, Alessandro Massimo and Lampariello, Roberto (2018) Robust Estimation of Motion States for Free-Floating Tumbling Target Capture. In: IEEE Aerospace Conference Proceedings. 2019 IEEE Aerospace Conference, 2019-03-02 - 2019-03-09, Yellowstone Conference Center, Big Sky, Montana,. doi: 10.1109/AERO.2019.8741802. ISSN 1095-323X. Volltext nicht online.

Garcia-Haro, Juan Miguel and Henze, Bernd and Mesesan, George and Martinez, Santiago and Ott, Christian (2019) Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots. In: 19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2019-10-15 - 2019-10-17, Toronto, Canada. doi: 10.1109/Humanoids43949.2019.9035010. ISSN 2164-0572.

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Garofalo, Gianluca and Beck, Fabian and Klodmann, Julian and Ott, Christian (2020) Video: On the Control of Translationally Flexible Base Manipulators. In: European Control Conference 2020, ECC 2020. European Control Conference, 2020-05-12 - 2020-05-15, Saint Petersburg, Russia. ISBN 978-390714401-5. ISSN 1792-6688. Volltext nicht online.

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Garofalo, Gianluca and Englsberger, Johannes and Ott, Christian (2015) On the regulation of the energy of elastic joint robots: excitation and damping of oscillations. In: American Control Conference (ACC), pp. 4825-4831. American Control Conference (ACC) 2015, 2015-07-01 - 2015-07-03, Chicago, USA. doi: 10.1109/ACC.2015.7172089.

Garofalo, Gianluca and Henze, Bernd and Englsberger, Johannes and Ott, Christian (2015) On the inertially decoupled structure of the floating base robot dynamics. In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives, pp. 322-327. 8th Vienna International Conference on Mathematical Modelling (2015), 2015-02-18 - 2015-02-20, Vienna, Austria. doi: 10.1016/j.ifacol.2015.05.189. ISSN 1682-1750.

Garofalo, Gianluca and Mansfeld, Nico and Jankowski, Julius and Ott, Christian (2019) Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration. In: 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2019-05-20 - 2019-05-24, Montreal, Canada. doi: 10.1109/ICRA.2019.8793529. ISBN 978-153866026-3. ISSN 10504729.

Garofalo, Gianluca and Mesesan, George-Adrian (2020) A Smooth Uniting Controller for Robotic Manipulators: An Extension of the Adaptive Variance Algorithm (AVA). In: 2020 American Control Conference, ACC 2020. 2020 American Control Conference (ACC), 2020-07-01 - 2020-07-03, Denver, CO, USA. doi: 10.23919/ACC45564.2020.9147828. ISBN 978-153868266-1. ISSN 0743-1619.

Garofalo, Gianluca and Ott, Christian (2015) Limit Cycle Control Using Energy Function Regulation with Friction Compensation. IEEE Robotics and Automation Letters, 1 (1), pp. 90-97. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2015.2507784. ISSN 2377-3766.

Garofalo, Gianluca and Ott, Christian (2016) Steps Towards Energy Efficiency in Elastically Actuated Robots. Proceedings of the 19th International Conference on CLAWAR 2016, 2016-09-12 - 2016-09-14, London, UK. doi: 10.1142/9789813149137_0090.

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Garofalo, Gianluca and Ott, Christian (2018) Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation. In: 10th International Workshop on Human Friendly Robotics, HFR 2017, 7. 10th International Workshop on Human Friendly Robotics (HFR), 2017-11-06 - 2017-11-07, 10th International Workshop on Human Friendly Robotics (HFR). doi: 10.1007/978-3-319-89327-3_3. ISBN 978-3-319-89326-6. ISSN 2511-1256.

Garofalo, Gianluca and Ott, Christian (2018) Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control. In: 12th International IFAC Symposium on Robot Control, 51 (22). 12th International IFAC Symposium on Robot Control, Budapest, Hungary. doi: 10.1016/j.ifacol.2018.11.520. ISSN 2405-8963.

Garofalo, Gianluca and Ott, Christian (2020) Hierarchical Tracking Control with Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds. IEEE Robotics and Automation Letters, 5 (4). IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.3010449. ISSN 2377-3766.

Garofalo, Gianluca and Ott, Christian and Albu-Schäffer, Alin (2013) Asymptotically stable limit cycles generation by using nullspace decomposition and energy regulation. DGR-Tage 2013, 2013-10-07 - 2013-10-08, Munich, Germany.

Garofalo, Gianluca and Ott, Christian and Albu-Schäffer, Alin (2013) Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. In: American Control Conference (ACC). The 2013 American Control Conference, 2013-06-17 - 2013-06-19, Washington DC, USA. doi: 10.1109/ACC.2013.6580733.

Garofalo, Gianluca and Werner, Alexander and Loeffl, Florian Christoph and Ott, Christian (2019) Joint-space Impedance Control using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop. IEEE Control Systems Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/lcsys.2018.2851139. ISSN 2475-1456.

Garofalo, Gianluca and Wu, Xuwei and Ott, Christian (2021) Adaptive Passivity-based Multi-Task Tracking Control for Robotic Manipulators. IEEE Robotics and Automation Letters, 6 (4), pp. 7129-7136. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3095930. ISSN 2377-3766. Volltext nicht frei.

Gebel, Silvia (2021) Touch Recognition for Intuitive High-Level Robot Programming. DLR-Interner Bericht. DLR-IB-RM-OP-2021-44. Master's. Technische Universität München (TUM). Volltext nicht online.

Ginner, Florian (2018) Obstacle Crossing Strategies for a Rover with Articulated Suspension: Passive vs. Active Modes. DLR-Interner Bericht. DLR-IB-RM-OP-2018-106. Master's. Technische Universität München. Volltext nicht frei.

Giordano, Alessandro Massimo (2020) Whole-Body Control of Orbital Robots. Dissertation, Technische Universität München.

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Giordano, Alessandro Massimo and Dietrich, Alexander and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2020) Coordination of thrusters, reaction wheels, and arm in orbital robots. Robotics and Autonomous Systems, 131. Elsevier. doi: 10.1016/j.robot.2020.103564. ISSN 0921-8890.

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Gonzales Marin, Antonio (2014) Blunt thoracic injury: Unifying experimental knowledge from biomechanics and robotics for estimating human injury probability. DLR-Interner Bericht. DLR-IB 572-2014/25. Master's. Warsaw University of Technology. 82 S. Volltext nicht frei.

González Camarero, Ricardo (2014) Dynamic Simulation and Control of Exoskeletal Devices for an Astronaut’s Hand and Leg. DLR-Interner Bericht. DLR-IB 572-2014/17. Master's. CEIT and TECNUN, University of Navarra. 104 S. Volltext nicht frei.

González Camarero, Ricardo and Hulin, Thomas and Vodermayer, Bernhard (2015) The STAMAS Simulator: A Kinematics and Dynamics Simulator for an Astronaut's Leg and Hand Exoskeleton. STAMAS Workshop - Smart technology for artificial muscle applications in space, 2015-10-29, Madrid, Spain.

Grimmel, Ferdinand (2019) Programmierung eines Mikrocontrollers zur Ansteuerung mobiler robotischer Einheiten für das SwarmRail-System. DLR-Interner Bericht. DLR-IB-RM-OP-2019-71. Bachelor's. Hochschule für angewandte Wissenschaften München. Volltext nicht frei.

Guardiani, Paolo and Ludovico, Daniele and Pistone, Alessandro and Abidi, Haider and Zaplana, Isiah and Lee, Jinoh and Caldwell, Darwin and Canali, Carlo (2021) Design and Analysis of a Fully Actuated Cable-Driven Joint for Hyper-Redundant Robots with Optimal Cable Routing. Journal of Mechanisms and Robotics, pp. 1-13. American Society of Mechanical Engineers (ASME). doi: 10.1115/1.4052332. ISSN 1942-4302. Volltext nicht frei.

Görl, Deborah Maria (2021) Vibration Attenuation for a Robot Arm on a Planetary Exploration Rover. Master's, Technical University of Munich. Volltext nicht frei.

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Görner, Martin (2017) Locomotion and Pose Estimation in Compliant, Torque-Controlled Hexapedal Robots. Dissertation, Technische Universität Ilmenau.

Görner, Martin and Benedikt, Fabian and Grimmel, Ferdinand and Hulin, Thomas (2020) SwarmRail: A Novel Overhead Robot System for Indoor Transport and Mobile Manipulation. In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-06-04, Paris, Frankreich. doi: 10.1109/ICRA40945.2020.9196972. ISBN 978-172817395-5. ISSN 1050-4729.

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Harder, Marie Christin and Keppler, Manuel and Meng, Xuming and Ott, Christian and Höppner, Hannes and Dietrich, Alexander (2022) Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators. IEEE Robotics and Automation Letters, 7 (3), pp. 6614-6621. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3176094. ISSN 2377-3766.

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Heeringa, Willem and Della Santina, Cosimo and Smit, Gerwin (2023) FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects. In: 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023, pp. 1-7. 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023-04-03 - 2023-04-07, Singapore, Singapore. doi: 10.1109/RoboSoft55895.2023.10122107. ISBN 979-835033222-3. ISSN 2769-4526. Volltext nicht online.

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Henze, Bernd and Balachandran, Ribin and Roa Garzon, Máximo Alejandro and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2018) Passivity Analysis and Control of Humanoid Robots on Movable Ground. IEEE Robotics and Automation Letters, 3 (4), pp. 3457-3464. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/lra.2018.2853266. ISSN 2377-3766. Volltext nicht online.

Henze, Bernd and Dietrich, Alexander and Ott, Christian (2015) An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2015.2512933. ISSN 2377-3766.

Henze, Bernd and Dietrich, Alexander and Roa Garzon, Máximo Alejandro and Ott, Christian (2017) Multi-Contact Balancing of Humanoid Robots in Confined Spaces: Utilizing Knee Contacts. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017-09-24 - 2017-09-28, Vancouver, Canada. doi: 10.1109/IROS.2017.8202227. ISBN 978-153862682-5. ISSN 2153-0858.

Henze, Bernd and Ott, Christian and Roa, Maximo A. (2014) Posture and Balance Control for Humanoid Robots in Multi-Contact Scenarios Based on Model Predictive Control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014-09-14 - 2014-09-18, Chicago, USA. doi: 10.1109/IROS.2014.6943014. ISSN 1042-296X. Volltext nicht online.

Henze, Bernd and Roa Garzon, Máximo Alejandro and Ott, Christian (2016) Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios. International Journal of Robotics Research. SAGE Publications. doi: 10.1177/0278364916653815. ISSN 0278-3649. Volltext nicht online.

Henze, Bernd and Roa Garzon, Máximo Alejandro and Werner, Alexander and Dietrich, Alexander and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2019) Experiments with Human-Inspired Behaviors in a Humanoid Robot: Quasi-Static Balancing Using Toe-Off Motion and Stretched Knees. In: 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE. IEEE International Conference on Robotics and Automation, 2019-05-20 - 2019-05-24, Montreal. doi: 10.1109/ICRA.2019.8794096. ISBN 978-153866026-3. ISSN 10504729.

Henze, Bernd and Werner, Alexander and Roa, Maximo A. and Garofalo, Gianluca and Englsberger, Johannes and Ott, Christian (2014) Control Applications of TORO - a Torque Controlled Humanoid Robot. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014-11-18 - 2014-11-20, Madrid, Spain. doi: 10.1109/HUMANOIDS.2014.7041461. Volltext nicht online.

Hu, Kai and Ott, Christian and Lee, Dongheui (2014) Online Human Walking Imitation in Task and Joint Space based on Quadratic Programming. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3458-3464. IEEE International Conference on Robotics and Automation (ICRA), 2014-05-31 - 2014-06-07, Hong Kong. doi: 10.1109/icra.2014.6907357. Volltext nicht online.

Hu, Kai and Ott, Christian and Lee, Dongheui (2015) Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 5127-5133. 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015-05-26 - 2015-05-30, Seattle. doi: 10.1109/ICRA.2015.7139913. Volltext nicht online.

Hu, Kai and Ott, Christian and Lee, Dongheui (2016) Learning and Generalization of Compensative Zero-Moment Point Trajectory for Biped Walking. IEEE Transactions on Robotics, 32 (3), pp. 717-725. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2016.2553677. ISSN 1552-3098. Volltext nicht frei.

Hulin, Thomas (2017) A Practically Linear Relation between Time Delay and the Optimal Settling Time of a Haptic Device. IEEE Robotics and Automation Letters, 2 (3), pp. 1632-1639. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2017.2678538. ISSN 2377-3766.

Hulin, Thomas (2017) Control of Hybrid Systems Affected by Time Delay with Application in Haptic Rendering. Dissertation, Leibniz Universität Hannover.

Hulin, Thomas and Albu-Schäffer, Alin and Hirzinger, Gerd (2014) Passivity and Stability Boundaries for Haptic Systems with Time Delay. IEEE Transactions on Control Systems Technology, 22 (4), pp. 1297-1309. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TCST.2013.2283372. ISSN 1063-6536. Volltext nicht frei.

Hulin, Thomas and Alessandro, Cristiano and Vodermayer, Bernhard and Riener, Robert (2015) Evaluation of Force Feedforward Control for Actuators with Limited Dynamics and Time Delay. STAMAS Workshop - Smart technology for artificial muscle applications in space, 2015-10-29, Madrid, Spain.

Igler, Leonardo Alessandro (2023) Extension of the Control Concept for a Mobile Overhead Manipulator to Whole-Body Impedance Control. Other, Technische Universität München.

Iskandar, Maged and Eiberger, Oliver and Albu-Schäffer, Alin and De Luca, Alessandro and Dietrich, Alexander (2021) Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021-05-30 - 2021-06-05, Xi' an, China. doi: 10.1109/ICRA48506.2021.9561677. ISBN 978-172819077-8. ISSN 1050-4729.

Iskandar, Maged and Ott, Christian and Albu-Schäffer, Alin and Siciliano, Bruno and Dietrich, Alexander (2023) Hybrid Force-Impedance Control for Fast End-Effector Motions. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3270036. ISSN 2377-3766.

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Meyer, Lukas (2017) Pose Estimation and Traction Control for a Planetary Exploration Rover. DLR-Interner Bericht. DLR-IB-RM-OP-2017-140. Master's. Deutsches Zentrum für Luft- und Raumfahrt. 77 S.

Mishra, Hrishik (2016) Designing robust pose estimator for non-cooperative space targets for visual servoing during approach maneuvers. DLR-Interner Bericht. DLR-IB-RM-OP-2017-123. Master's. Technische Universität München. 95 S.

Mishra, Hrishik and Balachandran, Ribin and De Stefano, Marco and Ott, Christian (2021) A Compliant Partitioned Shared Control Strategy for an Orbital Robot. IEEE Robotics and Automation Letters, 6 (4), pp. 7317-7324. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3097509. ISSN 2377-3766.

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Mishra, Hrishik and Garofalo, Gianluca and Giordano, Alessandro Massimo and De Stefano, Marco and Ott, Christian and Kugi, Andreas (2022) Reduced Euler-Lagrange Equations of Floating-base Robots: Computation, Properties & Applications. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2022.3206716. ISSN 1552-3098. Volltext nicht online.

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Monje, Concepcion Alicia and Balaguer, Carlos and Deutschmann, Bastian and Ott, Christian (2016) FRACTIONAL ORDER CONTROL OF A SOFT ROBOTIC SYSTEM: Proceedings of the 19th International Conference on CLAWAR 2016. In: Advances in Cooperative Robotics Advances in Cooperative Robotics. World Scientific. pp. 771-779. doi: 10.1142/9789813149137_0089. Volltext nicht frei.

Monje, Concepcion Alicia and Deutschmann, Bastian and Munoz, Jorge and Ott, Christian and Balaguer, Carlos (2023) Fractional Order Control of Continuum Soft Robots: Combining Decoupled/Reduced-Dynamics Models and Robust Fractional Order Controllers for Complex Soft Robot Motions. IEEE Control Systems Magazine, 43 (3), 66 -99. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MCS.2023.3253420. ISSN 1066-033X. Volltext nicht online.

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Ott, Christian (2017) Passivity based control for physical human-robot interaction. IROS 2017 Workshop on Human in the loop manipulation: on the influence of the human role, 2017-09-24 - 2017-09-28, Vancouver. Volltext nicht online.

Ott, Christian (2017) On utilizing natural dynamics in the control of elastic robots for manipulation and locomotion. AIM 2017 Workshop on Promoting Elastic Actuators for Robotics (PEAR): Novel Approaches and Biomedical Applications, Munich. Volltext nicht online.

Ott, Christian (2018) Elastic Actuators: From mastering vibrations towards utilization of intrinsic dynamics. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. IEEE/RSJ nternational Conference of Intelligent Robots and Systems, 2018-10-01 - 2018-10-05, Madrid, Spanien. ISBN 978-153868094-0. ISSN 2153-0858.

Ott, Christian and Dietrich, Alexander and Albu-Schäffer, Alin (2015) Prioritized Multi-Task Compliance Control of Redundant Manipulators. Automatica, 53, pp. 416-423. Elsevier. doi: 10.1016/j.automatica.2015.01.015. ISSN 0005-1098. Volltext nicht online.

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Ott, Christian and Dietrich, Alexander and Roa, Maximo A. (2014) Torque based multi-task and balancing control for humanoid robots. In: The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2014). The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2014), 2014-11-12 - 2014-11-15, Kuala Lumpur, Malaysia. Volltext nicht frei.

Ott, Christian and Henze, Bernd and Hettich, Georg and Seyde, Tim Niklas and Roa, Maximo A. and Lippi, Vittorio and Mergner, Thomas (2016) Good Posture, Good Balance: Comparison of bio-inspired and model-based approaches for posture control of humanoid robots. IEEE Robotics & Automation Magazine, 23 (1), pp. 22-33. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MRA.2015.2507098. ISSN 1070-9932. Volltext nicht online.

Ott, Christian and Henze, Bernd and Lee, Dongheui (2013) Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013-11-03 - 2013-11-08, Tokyo/Japan. doi: 10.1109/iros.2013.6697020. Volltext nicht online.

Ott, Christian and Hyon, Sang-Ho (2017) Torque-based balancing. In: Humanoid Robotics: A Reference Living reference work. Springer Science + Business Media. pp. 1-26. doi: 10.1007/978-94-007-7194-9_39-1. ISBN 978-94-007-7194-9. Volltext nicht online.

Ott, Christian and Mukherjee, Ranjan and Nakamura, Yoshihiko (2014) A Hybrid System Framework for Unified Impedance and Admittance Control. Journal of Intelligent & Robotic Systems. Springer. doi: 10.1007/s10846-014-0082-1. ISSN 0921-0296. Volltext nicht online.

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Panzirsch, Michael (2018) Passivity-Based Multilateral Control for Delayed Teleoperation. Dissertation, Universidad Politécnica de Madrid. doi: 10.20868/UPM.thesis.52592.

Panzirsch, Michael and Artigas Esclusa, Jordi and Ferre, Manuel (2016) A modular passivity framework for multilateral teleoperation applications. RoboCity 16, 2016-05-26 - 2016-05-27, Madrid, Spanien.

Panzirsch, Michael and Balachandran, Ribin (2019) Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation. In: IFAC Proceedings Volumes (IFAC-PapersOnline). IFAC Workshop on Time Delay Systems, 2019-09-09 - 2019-09-11, Sinaia, Romania. doi: 10.1016/j.ifacol.2019.12.202.

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Panzirsch, Michael and Balachandran, Ribin and Weber, Bernhard and Ferre, Manuel and Artigas, Jordi (2018) Haptic Augmentation for Teleoperation through Virtual Grasping Points. IEEE Transactions on Haptics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TOH.2018.2809746. ISSN 1939-1412.

Panzirsch, Michael and Hulin, Thomas and Artigas Esclusa, Jordi and Ott, Christian and Ferre, Manuel (2016) Integrating Measured Force Feedback in Passive Multilateral Teleoperation. In: 10th International Conference on Haptics: Perception, Devices, Control, and Applications, EuroHaptics 2016. Springer Berlin Heidelberg. EuroHaptics 2016, 2016-07-04 - 2016-07-07, London, England. doi: 10.1007/978-3-319-42321-0_29. ISBN 978-3-319-42321-0. ISSN 0302-9743. Volltext nicht frei.

Panzirsch, Michael and Pereira, Aaron and Singh, Harsimran and Weber, Bernhard and Ferreira, Edmundo and Gherghescu, Andrei and Hann, Lukas and den Exter, Emiel and van der Hulst, Frank P. J and Gerdes, Levin and Cencetti, Leonardo and Wormnes, Kjetil and Grenouilleau, Jessica and Carey, William and Balachandran, Ribin and Hulin, Thomas and Ott, Christian and Leidner, Daniel and Albu-Schäffer, Alin Olimpiu and Lii, Neal Yi-Sheng and Krüger, Thomas (2022) Exploring planet geology through force-feedback telemanipulation from orbit. Science Robotics, 7 (65), pp. 1-11. American Association for the Advancement of Science (AAAS). doi: 10.1126/scirobotics.abl6307. ISSN 2470-9476. Volltext nicht frei.

Panzirsch, Michael and Radhakrishna Balachandran, Ribin and Artigas, Jordi (2015) Cartesian Task Allocation for Cooperative, Multilateral Teleoperation under Time Delay. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation (ICRA), 2015-05-26 - 2015-05-30, Seattle,USA. doi: 10.1109/icra.2015.7139017.

Panzirsch, Michael and Ryu, Jee-Hwan and Ferre, Manuel (2019) Reducing the Conservatism of the Time Domain Passivity Approach through Consideration of Energy Reflection in Delayed Coupled Network Systems. Mechatronics. Elsevier. doi: 10.1016/j.mechatronics.2018.12.001. ISSN 0957-4158. Volltext nicht frei.

Panzirsch, Michael and Sierotowicz, Marek and Prakash, Revanth and Singh, Harsimran and Ott, Christian (2022) Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference. IEEE Robotics and Automation Letters, 7 (2), pp. 4440-4447. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3147566. ISSN 2377-3766.

Panzirsch, Michael and Singh, Harsimran (2021) Position synchronization through the energy-reflection based time domain passivity approach in position-position architectures. IEEE Robotics and Automation Letters, 6 (4). IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3099230. ISSN 2377-3766. Volltext nicht frei.

Panzirsch, Michael and Singh, Harsimran and Krüger, Thomas and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2020) Safe Interactions and Kinesthetic Feedback in High Performance Earth-To-Moon Teleoperation. In: 2020 IEEE Aerospace Conference, AERO 2020. IEEE Aerospace Conference, 2020-03-07 - 2020-03-14, Big Sky, USA. doi: 10.1109/AERO47225.2020.9172665. ISBN 978-172812734-7. ISSN 1095-323X.

Panzirsch, Michael and Singh, Harsimran and Ott, Christian (2020) The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach with Preservation of Physical Coupling Behavior. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.3010727. ISSN 2377-3766. Volltext nicht frei.

Panzirsch, Michael and Singh, Harsimran and Stelzer, Martin and Schuster, Martin J. and Ott, Christian and Ferre, Manuel (2018) Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control Michael Panzirsch1,2, Harsimran Singh1, Martin Stelzer1, Martin J. Schuster1, Christian Ott1, Manuel Ferre2. In: IEEE Intelligent Vehicles Symposium, Proceedings. IEEE Inteligent Vehicels Symposium, 2018-06-26 - 2018-06-29, Changshu, China.

Panzirsch, Michael and Weber, Bernhard (2015) A 3DoF-Sidestick User Interface for Four Wheel Independent Steering Vehicles. In: IEEE Intelligent Vehicles Symposium 2015. IEEE Intelligent Vehicles Symposium 2015, 2015-06-28 - 2015-07-01, Seoul, Korea. doi: 10.1109/IVS.2015.7225897. Volltext nicht frei.

Panzirsch, Michael and Weber, Bernhard and Bechtel, Nicolai and Grabner, Nicole and Lingenauber, Martin (2022) Light-field head-mounted displays reduce the visual effort: A user study. Journal of the Society for Information Display, 30 (4), pp. 319-334. Wiley. doi: 10.1002/jsid.1112. ISSN 1071-0922.

Panzirsch, Michael and Weber, Bernhard and Rubio, Luis and Sofia, Coloma and Ferre, Manuel and Artigas, Jordi (2017) Tele-Healthcare with Humanoid Robots: A User Study on the Evaluation of Force Feedback Effects. In: World Haptics Conference: First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virutual Environment and Teleoperator Systems, Proceedings. World Haptics Conference, 2017-06-06 - 2017-06-09, Fürstenfeldbruck, Deutschland. doi: 10.1109/WHC.2017.7989909. Volltext nicht frei.

Papadopoulos, Evangelos and Aghili, Farhad and Ma, Ou and Lampariello, Roberto (2021) Robotic Manipulation and Capture in Space: A Survey. Frontiers in Robotics and AI. Frontiers Media S.A. doi: 10.3389/frobt.2021.686723. ISSN 2296-9144.

Perrin, Nicholas and Ott, Christian and Englsberger, Johannes and Stasse, Olivier and Lamiraux, Florent and Caldwell, Darwin (2016) Continuous Legged Locomotion Planning. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2016.2623329. ISSN 1552-3098. Volltext nicht online.

Persson, Linnea (2016) Cooperative Control for Landing a Fixed-Wing Unmanned Aerial Vehicle on a Ground Vehicle. DLR-Interner Bericht. DLR-IB-RM-OP-2016-347. Master's. KTH Royal Institute of Technology. 88 S.

Persson, Linnea and Muskardin, Tin and Wahlberg, Bo (2017) Cooperative Rendezvous of Ground Vehicle and Aerial Vehicle using Model Predictive Control. In: IEEE Conference on Decision and Control. IEEE Conference on Decision and Control (CDC 2017), 2017-12-12 - 2017-12-15, Melbourne, Australien. doi: 10.1109/CDC.2017.8264069. Volltext nicht online.

Petit, Florian and Dietrich, Alexander and Albu-Schäffer, Alin (2015) Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots. IEEE Robotics & Automation Magazine, 22 (4), pp. 37-51. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MRA.2015.2476576. ISSN 1070-9932. Volltext nicht frei.

Petit, Florian and Ott, Christian and Albu-Schäffer, Alin (2014) A Model-Free Approach to Vibration Suppression for Intrinsically Elastic Robots. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 2176-2182. IEEE International Conference on Robotics and Automation (ICRA), 2014-05-31 - 2014-06-07, Hong Kong. doi: 10.1109/icra.2014.6907159. Volltext nicht online.

Petric, Tadej and Zlajpah, Leon and Garofalo, Gianluca and Ott, Christian (2013) Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives. In: 22nd International Workshop on Robotics in Alpe-Adria-Danube Region. 22nd International Workshop on Robotics in Alpe-Adria-Danube Region, 2013-09-11 - 2013-09-13, Portorož, Slovenia. Volltext nicht online.

Petric, Tadej and Zlajpah, Leon and Garofalo, Gianluca and Ott, Christian (2014) Walking with Adaptive Oscillator and Dynamic Movement Primitives. International Journal of Mechanics and Control, 15 (1), pp. 3-10. Levrotto and Bella. ISSN 1590-8844. Volltext nicht online.

Pham, Viet Duc (2015) Konstruktion, Analyse und Inbetriebnahme eines Gelenks zur rotatorischen Entkopplung für ein UAV-Helikopter-Landesystem. DLR-Interner Bericht. DLR-IB 572-2015/04. Bachelor's. Hochschule München. 60 S.

Pierallini, Michele and Stella, Francesco and Angelini, Franco and Deutschmann, Bastian and Hughes, Josie and Bicchi, Antonio and Garabini, Manolo and Della Santina, Cosimo (2023) A Provably Stable Iterative Learning Controller for Continuum Soft Robots. IEEE Robotics and Automation Letters, 8 (10), 6427 -6434. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3307007. ISSN 2377-3766.

Piqué, Francesco and Stella, Francesco and Hughes, Josie and Falotico, Egidio and Della Santina, Cosimo (2023) Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control. In: 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023, pp. 1-7. 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023-04-03 - 2023-04-07, Singapore, Singapore. doi: 10.1109/RoboSoft55895.2023.10122116. ISBN 979-835033222-3. ISSN 2769-4526. Volltext nicht online.

Ploeger, Kai Fabian (2016) Generierung von Laufmustern für einen elastisch angetriebenen Vierbeiner mit modal abgestimmten Beinen. DLR-Interner Bericht. DLR-IB-RM-OP-2016-329. Bachelor's. Technische Universität Dortmund. 41 S. Volltext nicht frei.

Pollayil, George Jose and Meng, Xuming and Keppler, Manuel and Pfanne, Martin and Bicchi, Antonio and Ott, Christian (2021) Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems. IEEE Control Systems Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2021.3136749. ISSN 2475-1456.

Pollayil, Mathew Jose and Della Santina, Cosimo and Mesesan, George-Adrian and Englsberger, Johannes and Seidel, Daniel and Garabini, Manolo and Ott, Christian and Bicchi, Antonio and Albu-Schäffer, Alin Olimpiu (2022) Planning Natural Locomotion for Articulated Soft Quadrupeds. In: 39th IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE. 2022 International Conference on Robotics and Automation (ICRA), 2022-05-23 - 2022-05-27, Philadelphia, PA, USA. doi: 10.1109/ICRA46639.2022.9812416. ISBN 978-172819681-7. ISSN 1050-4729. Volltext nicht online.

Prakash, Revanth (2021) Time- domain based passivity approach for coupling control with variable stiffness in bilateral teleoperation. Master's, Deggendorf Institute of Technology.

Pratt, Jerry and Ott, Christian and Hyon, Sang-Ho (2018) Introduction to Humanoid Balance. In: Humanoid Robotics: A Reference Living reference work. Springer Science + Business Media. pp. 1-7. doi: 10.1007/978-94-007-7194-9_36-1. ISBN 978-94-007-7194-9. Volltext nicht online.

Puxbaumer, Stefan (2023) Sensorless collision detection and identification utilizing motor current and model-based friction on a 7-DoF manipulator. Master's, TUM. Volltext nicht frei.

Pérez Marcilla, Luis (2022) Fabrication, enhancement, and comparative study of ferro-fluid-based haptic wearables. Master's, Universidad de Navarra, Tecnun. Volltext nicht frei.

Pötter, Max Alexej (2021) Design and Implementation of the FingerTac as a Product-Service System for Mobile Haptic Mixed Reality Applications (Entwurf und Implementierung des FingerTacs in ein Produkt-Service-System für haptische Mixed-Reality-Anwendungen). Diploma, Technische Universität Dresden. Volltext nicht frei.

Pötter, Max Alexej and Botta, Maximilian and Hulin, Thomas (2023) Demonstrating Vibrotactile Feedback in Augmented Reality with the FingerTac. In: 2023 IEEE World Haptics Conference, WHC 2023, Demos. IEEE World Haptics Conference (WHC), 2023-07-10 - 2023-07-13, Delft, The Netherlands.

Pötter, Max Alexej and Schneider, Julia and Muschter, Evelyn and Krzywinski, Jens and Hulin, Thomas (2024) Balancing Wearability and Functionality in the Design of a Haptic Fingertip Device. In: 17th ACM International Conference on PErvasive Technologies Related to Assistive Environments, PETRA 2024, pp. 107-111. Association for Computing Machinery (ACM). PETRA '24: International Conference on PErvasive Technologies Related to Assistive Environments, 2024-06-26, Kreta, Griechenland. doi: 10.1145/3652037.3652055. ISBN 979-840071760-4.

Rackl, Wolfgang and Lampariello, Roberto (2014) Parameter Identification of Free-Floating Robots with Flexible Appendages and Fuel Sloshing. In: 6th International Conference on Modeling, Identification and Control - ICMIC 2014. International Conference of Modelling, Identification and Control ICMIC, 2014-12-03 - 2014-12-05, Melbourne, Australien.

Radhakrishna Balachandran, Ribin and De Stefano, Marco and Mishra, Hrishik and Ott, Christian and Albu-Schäffer, Alin (2022) Passive arbitration in adaptive shared control of robots with variable force and stiffness scaling. Mechatronics, 90, p. 102930. Elsevier. doi: 10.1016/j.mechatronics.2022.102930. ISSN 0957-4158. Volltext nicht online.

Rajendran, Rajesh (2013) Estimation of Underactuated Degrees of Freedom in Humanoid Robots. Other. Master's. Technische Universität Dortmund. Volltext nicht online.

Raschel, Clara M. (2019) Reactive collision avoidance for highly elastic robot systems: an artificial potential field approach. DLR-Interner Bericht. DLR-IB-RM-OP-2019-36. Bachelor's. Technische Universität München. Volltext nicht frei.

Raschel, Clara Maria (2022) Control Algorithms for Improving the Positioning Accuracy of Highly Compliant Robot Systems. DLR-Interner Bericht. DLR-IB-RM-OP-2022-166. Master's. Technical University of Munich. 66 S. Volltext nicht frei.

Rehermann, Maximilian (2021) Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Motions. Master's, Technische Universität Ilmenau. Volltext nicht frei.

Reinecke, Jens and Deutschmann, Bastian and Dietrich, Alexander and Hutter, Marco (2020) An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation. IEEE Robotics and Automation Letters, 5 (3), pp. 3876-3883. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2983386. ISSN 2377-3766.

Reinecke, Jens and Deutschmann, Bastian and Fehrenbach, David (2016) A Structurally Flexible Humanoid Spine based on a Tendon-Driven Elastic Continuum. In: IEEE International Conference on Robotics and Automation ICRA, pp. 4714-4721. IEEE. IEEE International Conference on Robotics and Automation, 2016-05-16 - 2016-05-21, Stockholm, Sweden. doi: 10.1109/ICRA.2016.7487672. Volltext nicht frei.

Reinecke, Jens and Dietrich, Alexander and Shu, Anton and Deutschmann, Bastian and Hutter, Marco (2021) A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement. IEEE Robotics and Automation Letters, 7 (1), pp. 9-16. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3117245. ISSN 2377-3766.

Riecke, Cornelia and Artigas, Jordi and Balachandran, Ribin and Bayer, Ralph and Beyer, Alexander and Brunner, Bernhard and Buchner, Johann and Gumpert, Thomas and Gruber, Robin and Hacker, Franz and Landzettel, Klaus and Plank, Georg and Schätzle, Simon and Sedlmayr, Hans-Jürgen and Seitz, Nikolaus and Steinmetz, B-M. and Stelzer, Martin and Vogel, Jörg and Weber, Bernhard and Willberg, Bertram and Albu-Schäffer, Alin Olimpiu (2016) KONTUR-2 MISSION: THE DLR FORCE FEEDBACK JOYSTICK FOR SPACE TELEMANIPULATION FROM THE ISS. The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016), Beijing, China. Volltext nicht frei.

Roa Garzon, Máximo Alejandro and Henze, Bernd and Ott, Christian (2018) Model-Based Posture Control for a Torque-Controlled Humanoid Robot. In: 2018 International Symposium on Wearable Robotics and Rehabilitation, WeRob 2018, 22, pp. 344-347. Springer International Publishing. International Symposium on Wearable Robotics, 2018-10-16 - 2018-10-20, Pisa, Italy. doi: 10.1007/978-3-030-01887-0. ISBN 978-3-030-01886-3. Volltext nicht online.

Rodriguez Brena, Ismael Valentin and Lutze, Jean-Pascal and Hrishik, Mishra and Lehner, Peter and Roa Garzon, Máximo Alejandro (2022) Hybrid Planning to Minimize Platform Disturbances during In-orbit Assembly Tasks. In: 2022 IEEE Aerospace Conference, AERO 2022. IEEE. 2022 IEEE Aerospace Conference, 2022-03-05 - 2022-03-12, Montana, USA. doi: 10.1109/AERO53065.2022.9843530. ISBN 978-166543760-8. ISSN 1095-323X.

Rodríguez Pérez, Pedro and De Stefano, Marco and Lampariello, Roberto (2018) Velocity matching compliant control for a space robot during capture of a free-floating target. In: IEEE Aerospace Conference Proceedings. 2018 IEEE Aerospace Conference, 2018-03-03 - 2018-03-10, Big Sky, MT, USA. doi: 10.1109/AERO.2018.8396733. ISSN 1095-323X. Volltext nicht online.

Rothammer, Michael (2020) Enhancement of a control approach to display high stiffness in virtual environments. DLR-Interner Bericht. DLR-IB-RM-OP-2020-85. Bachelor's. Technische Universität München. 69 S.

Rothammer, Michael (2021) Modeling, Observing and Controlling a Cable-Suspended Aerial Manipulator as a Constrained System. DLR-Interner Bericht. DLR-IB-RM-OP-2022-17. Master's. Technical University of Munich (TUM). 117 S.

Rothammer, Michael and Coelho, Andre and Mishra, Hrishik and Ott, Christian and Franchi, Antonio and Albu-Schäffer, Alin Olimpiu (2022) A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework. IEEE Control Systems Letters, 7, pp. 163-168. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3187349. ISSN 2475-1456. Volltext nicht online.

Ruiz Paez, Cristina (2017) Simulation of High Altitude Long Endurance Platforms Through Global System Identification. DLR-Interner Bericht. DLR-IB-RM-OP-2017-116. Bachelor's. Universidad de Cadiz. 151 S. Volltext nicht online.

Saad, Christoph (2023) Control of elastic joint robots by combining the ESP concept with reinforcement learning. Master's, Hochschule Kempten.

Sachtler, Arne and Albu-Schäffer, Alin Olimpiu and Della Santina, Cosimo (2024) Swing-Up of a Double, Triple and Quadruple Pendulum via Nonlinear Normal Modes. In: ENOC 2024 - Book of Abstracts. 11th European Nonlinear Dynamics Conference 2024, 2024-07-22 - 2024-07-26, Delft, The Netherlands.

Sachtler, Arne and Calzolari, Davide and Raff, Maximilian and Schmidt, Annika and Wotte, Yannik P. and Della Santina, Cosimo and Remy, C. David and Albu-Schäffer, Alin Olimpiu (2024) Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes. In: 2024 European Control Conference, ECC 2024, pp. 2392-2398. IEEE. European Control Conference (ECC) 2024, 2024-06-25 - 2024-06-28, Stockholm, Sweden. doi: 10.23919/ECC64448.2024.10590854. ISBN 978-390714410-7.

Sadeghian, Hamid and Ott, Christian and Cheng, Gordon (2016) Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots, 2016-11-15 - 2016-11-17, Cancun, Mexico. doi: 10.1109/HUMANOIDS.2016.7803375. Volltext nicht online.

Sadeghian, Hamid and Ott, Christian and Garofalo, Gianluca (2017) Passivity-based Control of Underactuated Biped Robots within Hybrid Zero Dynamics Approach. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017-05-29 - 2017-06-03, Singapore. doi: 10.1109/icra.2017.7989471.

Sarkisov, Iurii and Coelho, Andre and Santos, Maihara Gabrieli and Kim, Min Jun and Tsetserukou, Dzmitry and Ott, Christian and Kondak, Konstantin (2023) Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation. In: 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, pp. 5366-5372. IEEE. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023-05-29 - 2023-06-02, London, UK. doi: 10.1109/ICRA48891.2023.10160718. ISBN 979-835032365-8. ISSN 1050-4729. Volltext nicht online.

Sarkisov, Iurii and Kim, MinJun and Bicego, Davide and Tsetserukou, Dzmitry and Ott, Christian and Franchi, Antonio and Kondak, Konstantin (2019) Development of SAM: cable-Suspended Aerial Manipulator. In: 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE. ICRA 2019, 2019-05-20 - 2019-05-25, Montreal, Canada. doi: 10.1109/ICRA.2019.8793592. ISBN 978-153866026-3. ISSN 10504729.

Sarkisov, Iurii and Kim, MinJun and Bicego, Davide and Tsetserukou, Dzmitry and Ott, Christian and Franchi, Antonio and Kondak, Konstantin (2019) Development of SAM: cable-Suspended Aerial Manipulator. In: 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE International Conference on Robotics and Automation, Montreal, Canada. ISBN 978-153866026-3. ISSN 10504729.

Sarkisov, Iurii and Kim, MinJun and Tsetserukou, Dzmitry and Ott, Christian and Kondak, Konstantin (2020) Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor. In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-08-31, Paris, France. doi: 10.1109/ICRA40945.2020.9197055. ISBN 978-172817395-5. ISSN 1050-4729. Volltext nicht online.

Sauer, Frederic (2020) Maximizing Task-Oriented Manipulability of Redundant Robots. DLR-Interner Bericht. DLR-IB-RM-OP-2020-63. Master's. Technical University of Munich (TUM). Volltext nicht online.

Schmidt, Annika and Pasic, Filip and Calzolari, Davide and Sachtler, Arne and Gumpert, Thomas and Keppler, Manuel and Albu-Schäffer, Alin Olimpiu (2024) Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint. In: 2024 European Control Conference, ECC 2024, pp. 2194-2199. IEEE. European Control Conference (ECC) 2024, 2024-06-25 - 2024-06-28, Stockholm, Sweden. doi: 10.23919/ECC64448.2024.10591121. ISBN 978-390714410-7.

Schmidt, Phillip and Artigas, Jordi and De Stefano, Marco and Balachandran, Ribin and Ott, Christian (2015) Increasing the Performance of Torque-Based Visual Servoing by Applying Time Domain Passivity. 11th IFAC Symposium on Robot Control, 2015-08-26 - 2015-08-28, Salvador, Brasilien. doi: 10.1016/j.ifacol.2015.12.003. Volltext nicht online.

Schmidt, Phillip and Balachandran, Ribin and Artigas Esclusa, Jordi (2016) Shared control for robotic on-orbit servicing. The Robotics: Science and Systems 2016, 2016-06-18 - 2016-06-22, Michigan, USA.

Schmucker, Florian (2020) Development and Validation of an Efficient Thruster-Based Control Strategy for Orbital Robots. DLR-Interner Bericht. DLR-IB-RM-OP-2020-185. Master's. Technische Universität München.

Schneider, Dominik (2022) Interactive Robot Control using Augmented Reality Optical See-Through Head Mounted Displays for Robotically Assisted Surgical Systems. Bachelor's, Technical University Munich. Volltext nicht frei.

Scholl, Philipp and Iskandar, Maged and Wolf, Sebastian and Lee, Jinoh and Bacho, Aras and Alexander, Dietrich and Alin, Albu-Schäffer and Gitta, Kutyniok (2024) Learning-based adaption of robotic friction models. Robotics and Computer-Integrated Manufacturing, 89. Elsevier. doi: 10.1016/j.rcim.2024.102780. ISSN 0736-5845.

Schuller, Robert (2019) Torque Control of a New Lightweight Actuator Module for Robotic Applications. DLR-Interner Bericht. DLR-IB-RM-OP-2019-107. Other. Technische Universität München. 55 S. Volltext nicht frei.

Schuller, Robert (2020) Whole-body Motion Planning and Control of Angular Momentum Tasks in Humanoid Robots. DLR-Interner Bericht. DLR-IB-RM-OP-2020-60. Master's. Technische Universität München. 80 S. Volltext nicht frei.

Schuller, Robert and Mesesan, George-Adrian and Englsberger, Johannes and Lee, Jinoh and Ott, Christian (2021) Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery. IEEE Robotics and Automation Letters, 6 (3), pp. 5689-5696. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3082023. ISSN 2377-3766.

Schuller, Robert and Mesesan, George-Adrian and Englsberger, Johannes and Lee, Jinoh and Ott, Christian (2022) Online Learning of Centroidal Angular Momentum Towards Enhancing DCM-Based Locomotion. In: 39th IEEE International Conference on Robotics and Automation, ICRA 2022. 2022 IEEE International Conference on Robotics and Automation (ICRA), 2022-05-23 - 2022-05-27, Philadelphia, PA, USA. doi: 10.1109/ICRA46639.2022.9811708. ISBN 978-172819681-7. ISSN 1050-4729.

Schuller, Robert and Reinecke, Jens and Maurenbrecher, Henry and Ott, Christian and Albu-Schäffer, Alin Olimpiu and Deutschmann, Bastian and Büttner, Fred and Heim, Jens and Benkert, Frank and Glück, Stefan (2024) An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints. Frontiers in Robotics and AI, 11. Frontiers Media S.A. doi: 10.3389/frobt.2024.1416360. ISSN 2296-9144.

Schuster, Martin J. and Müller, Marcus G. and Brunner, Sebastian G. and Lehner, Hannah and Lehner, Peter and Sakagami, Ryo and Dömel, Andreas and Meyer, Lukas and Vodermayer, Bernhard and Giubilato, Riccardo and Vayugundla, Mallikarjuna and Reill, Josef and Steidle, Florian and von Bargen, Ingo and Bussmann, Kristin and Belder, Rico and Lutz, Philipp and Stürzl, Wolfgang and Smí\vsek, Michal and Maier, Moritz and Stoneman, Samantha and Fonseca Prince, Andre and Rebele, Bernhard and Durner, Maximilian and Staudinger, Emanuel and Zhang, Siwei and Pöhlmann, Robert and Bischoff, Esther and Braun, Christian and Schröder, Susanne and Dietz, Enrico and Frohmann, Sven and Börner, Anko and Hübers, Heinz-Wilhelm and Foing, Bernard and Triebel, Rudolph and Albu-Schäffer, Alin and Wedler, Armin (2020) The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration. IEEE Robotics and Automation Letters, 5 (4), pp. 5315-5322. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.3007468. ISSN 2377-3766.

Schuster, Martin J. and Rebele, Bernhard and Müller, Marcus G. and Brunner, Sebastian G. and Dömel, Andreas and Vodermayer, Bernhard and Giubilato, Riccardo and Vayugundla, Mallikarjuna and Lehner, Hannah and Lehner, Peter and Steidle, Florian and Meyer, Lukas and Bussmann, Kristin and Reill, Josef and Stürzl, Wolfgang and von Bargen, Ingo and Sakagami, Ryo and Smisek, Michal and Durner, Maximilian and Staudinger, Emanuel and Pöhlmann, Robert and Zhang, Siwei and Braun, Christian and Dietz, Enrico and Frohmann, Sven and Schröder, Susanne and Börner, Anko and Hübers, Heinz-Wilhelm and Triebel, Rudolph and Foing, Bernard and Albu-Schäffer, Alin and Wedler, Armin (2020) The ARCHES Moon-Analogue Demonstration Mission: Towards Teams of Autonomous Robots for Collaborative Scientific Sampling in Lunar Environments. In: European Lunar Symposium. European Lunar Symposium (ELS), 2020-05-12 - 2020-05-14, virtuell (Padua, Italien). Volltext nicht online.

Sesselmann, Anna (2019) Natural gait discovery for compliantly actuated legged robots. DLR-Interner Bericht. DLR-IB-RM-OP-2019-30. Master's. Technical University of Munich. 50 S.

Seyde, Tim and Shrivastava, Apoorv and Englsberger, Johannes and Bertrand, Sylvain and Pratt, Jerry and Griffin, Robert (2018) Inclusion of Angular Momentum During Planning for Capture Point Based Walking. In: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE. International Conference on Robotics and Automation (ICRA) 2018, 2018-05-21 - 2018-05-25, Brisbane, Australien. doi: 10.1109/ICRA.2018.8461140. ISBN 978-153863081-5. ISSN 1050-4729.

Shao, Xiangyu and Pustina, Pietro and Stölzle, Maximilian and Sun, Guanghui and De Luca, Alessandro and Wu, Ligang and Della Santina, Cosimo (2023) Model-Based Control for Soft Robots With System Uncertainties and Input Saturation. IEEE Transactions on Industrial Electronics, pp. 1-10. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TIE.2023.3303636. ISSN 0278-0046. Volltext nicht online.

Shu, Anton and Deutschmann, Bastian and Dietrich, Alexander and Ott, Christian and Albu-Schäffer, Alin (2018) Robust H∞ control of a tendon driven-elastic continuum mechanism via a systematic description of nonlinearities. IFAC-PapersOnLine, 51 (22), pp. 386-392. IFAC Secretariat. doi: 10.1016/j.ifacol.2018.11.572. ISSN 2405-8963. Volltext nicht frei.

Shu, Anton Leonhard (2018) H∞ Regelung eines seilgetriebenen strukturelastischen Gelenks mit hoher Modellunsicherheit. DLR-Interner Bericht. DLR-IB-RM-OP-2018-168. Master's. Technische Universität München. 115 S. Volltext nicht frei.

Singh, Harsimran and Hulin, Thomas and Banerjee, Premankur (2023) Rendering and Displaying Tactile Properties of Virtual Objects via ViESTac and FerroVibe. In: 2023 IEEE World Haptics Conference, WHC 2023, Demos. IEEE World Haptics Conference (WHC), 2023-07-10 - 2023-07-13, Delft, The Netherlands.

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