elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

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

Up a level
Export as [feed] Atom [feed] RSS 1.0 [feed] RSS 2.0
Number of items at this level: 508.

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

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

  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. file

  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. file

  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. file

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

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. filefile

  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. file

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

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

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

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

  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. file

  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. file

  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. file

  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. file

  Corso, Mario and Lampariello, Roberto and Rackl, Wolfgang and Gasbarri, Paolo (2016) Modelling, Dynamic Analysis and Robotic Control Strategies for the Deorbiting Operations of the ESA Satellite Envisat. DLR-Interner Bericht. DLR-IB-RM-OP-2016-327. Master's. Institut für Robotik und Mechatronik. 108 S. file

  Dantu, Swati and Yadav, Rishabh Dev and Roy, Spandan and Lee, Jinoh and Baldi, Simone (2023) Adaptive Artificial Time Delay Control for Quadrotors under State-dependent Unknown Dynamics. In: 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022, pp. 1092-1097. IEEE. 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022-12-05 - 2022-12-09, Jinghong, China. doi: 10.1109/ROBIO55434.2022.10011673. ISBN 978-1-6654-8110-6. file

  De Stefano, Marco (2019) Energy-based Control for Simulation of Multi-body Dynamics using Robotic Facilities. Dissertation, University of Modena and Reggio Emilia. file

  De Stefano, Marco and Artigas, Jordi (2017) The DLR On-Orbit Servicing Simulator: Reproducing Free-Floating Dynamics with Robotic Facilities. Workshop on Gravity Offload Testbed for Space Robotic Mission Simulation at IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS), 2017-09-24, Vancouver, BC, Canada. file

  De Stefano, Marco and Artigas, Jordi and Giordano, Alessandro and Lampariello, Roberto and Albu-Schäffer, Alin (2015) On-ground experimental verification of a torque controlled free-floating robot. 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2015), 2015-05-11 - 2015-05-13, ESA/ESTEC, Noordwijk, the Netherlands. file

  De Stefano, Marco and Artigas, Jordi and Rackl, Wolfang and Albu-Schäffer, Alin (2015) Passivity of Virtual Free-Floating Dynamics Rendered on Robotic Facilities. 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.2015.7139267. file

  De Stefano, Marco and Artigas, Jordi and Secchi, Cristian (2016) An Optimized Passivity-based Method for Simulating Satellite Dynamics on a Position Controlled Robot in Presence of Latencies. In: IEEE International Conference on Intelligent Robots and Systems. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016-10-09 - 2016-10-14, Daejeon, Korea. doi: 10.1109/IROS.2016.7759797. Volltext nicht frei. file

  De Stefano, Marco and Artigas, Jordi and Secchi, Cristian (2017) A Passive Integration Strategy for Rendering Rotational Rigid-body Dynamics on a Robotic Simulator. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, pp. 2806-2812. IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS), 2017-09-24 - 2017-09-28, Vancouver, BC, Canada. doi: 10.1109/IROS.2017.8206111. ISBN 978-153862682-5. ISSN 2153-0858. Volltext nicht frei. file

  De Stefano, Marco and Balachandran, Ribin and Artigas, Jordi and Secchi, Cristian (2017) Reproducing Physical Dynamics with Hardware-in-the-Loop Simulators: A Passive and Explicit Discrete Integrator. In: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, pp. 5899-5906. IEEE International Conference on Robotics and Automation (ICRA), 2017, 2017-05-29 - 2017-06-03, Singapore. doi: 10.1109/ICRA.2017.7989694. ISBN 978-150904633-1. ISSN 1050-4729. file

  De Stefano, Marco and Balachandran, Ribin and Giordano, Alessandro Massimo and Ott, Christian and Secchi, Cristian (2018) An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base. In: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018-05-21 - 2018-05-25, Brisbane, QLD, Australia. doi: 10.1109/ICRA.2018.8460497. ISBN 978-153863081-5. ISSN 1050-4729. file

  De Stefano, Marco and Balachandran, Ribin and Secchi, Cristian (2019) A Passivity-based Approach for Simulating Satellite Dynamics with Robots: Discrete Time Integration and Time Delay Compensation. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2019.2945883. ISSN 1552-3098. file

  De Stefano, Marco and Mishra, Hrishik and Balachandran, Ribin and Lampariello, Roberto and Ott, Christian and Secchi, Cristian (2019) Multi-rate Tracking Control for a Space Robot on a Controlled Satellite: a Passivity-based Strategy. IEEE Robotics and Automation Letters, 4 (2), pp. 1319-1326. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2019.2895420. ISSN 2377-3766. file

  De Stefano, Marco and Mishra, Hrishik and Giordano, Alessandro Massimo and Lampariello, Roberto and Ott, Christian (2021) A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions. IEEE Robotics and Automation Letters, pp. 3569-3576. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3064510. ISSN 2377-3766. file

  De Stefano, Marco and Vezzadini, Luca and Secchi, Cristian (2019) Time-delay Compensation Using Energy Tank for Satellite Dynamics Robotic Simulators. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019-11-04 - 2019-11-08, Macau, China. doi: 10.1109/iros40897.2019.8968472. ISSN 2153-0858. file

  De Stefano, Marco and Vijayan, Ria and Stemmer, Andreas and Elhardt, Ferdinand and Ott, Christian (2023) A Gravity Compensation Strategy for On-ground Validation of Orbital Manipulators. In: 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, pp. 11859-11865. IEEE. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023-05-29 - 2023-06-02, London, UK. doi: 10.1109/ICRA48891.2023.10161480. ISBN 979-835032365-8. ISSN 1050-4729. file

  Della Santina, Cosimo (2021) The Soft Inverted Pendulum with Affine Curvature. In: 59th IEEE Conference on Decision and Control, CDC 2020. IEEE. 2020 59th IEEE Conference on Decision and Control (CDC), 2020-12-14 - 2020-12-18, Jeju, Korea (South). doi: 10.1109/CDC42340.2020.9303976. ISBN 978-172817447-1. ISSN 0743-1546. Volltext nicht online.

  Della Santina, Cosimo and Angelini, Franco (2022) Iterative Learning in Functional Space for Non-Square Linear Systems. In: 60th IEEE Conference on Decision and Control, CDC 2021, pp. 5858-5863. IEEE. 2021 60th IEEE Conference on Decision and Control (CDC), 2021-12-14 - 2021-12-17, Austin, TX, USA. doi: 10.1109/CDC45484.2021.9683673. ISBN 978-166543659-5. ISSN 0191-2216. Volltext nicht online.

  Della Santina, Cosimo and Duriez, Christian and Rus, Daniel (2023) Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges. IEEE Control Systems Magazine, 43 (3), pp. 30-65. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MCS.2023.3253419. ISSN 1066-033X. Volltext nicht online.

  Della Santina, Cosimo and Lakatos, Dominic and Bicchi, Antonio and Albu-Schäffer, Alin (2019) Exact Modal Characterization of the Non Conservative Non Linear Radial Mass Spring System. In: 2019 International Conference on Robotics and Automation, ICRA 2019, pp. 3101-3107. 2019 International Conference on Robotics and Automation (ICRA), 2019-05-20 - 2019-05-24, Montreal, QC, Canada. doi: 10.1109/ICRA.2019.8793732. ISBN 978-153866026-3. ISSN 10504729. Volltext nicht online.

  Deremetz, Mathieu and Debroise, Maxence and De Stefano, Marco and Mishra, Hrishik and Brunner, Bernhard and Grunwald, Gerhard and Roa Garzon, Máximo Alejandro and Reiner, Matthias and Závodník, Martin and Komarek, Martin and D’Amico, Jurij and Cavenago, Francesco and Gancet, Jeremi and Govindaraj, Shashank and Letier, Pierre and Ilzkovitz, Michel and Gerdes, Levin and Zwick, Martin (2022) Design and Integration of a Multi-arm Installation Robot Demonstrator for orbital large Assembly. In: 73rd International Astronautical Congress, IAC 2022. International Astronautical Congress (IAC), 2022-09, Paris. file

  Deremetz, Mathieu and Debroise, Maxence and Govindaraj, Shashank and But, Alexandru and Sanz Nieto, Irene and De Stefano, Marco and Mishra, Hrishik and Brunner, Bernhard and Grunwald, Gerhard and Roa, Maximo and Reiner, Matthias and Závodník, Martin and Komarek, Martin and D’Amico, Jurij and Cavenago, Francesco and Gancet, Jeremi and Letier, Pierre and Ilzkovitz, Michel and Gerdes, Levin and Zwick, Martin (2012) Demonstrator Design of a Modular Multi-arm Robot for On-orbit Large Telescope Assembly. In: 2022 Symposiunm on Advanced Space Technologies in Robotics and Automation (ASTRA). Symposiunm on Advanced Space Technologies in Robotics and Automation (ASTRA), 2022-06, ESA/ESTEC Noordwijk, Netherlands. file

  Deremetz, Mathieu and Grunwald, Gerhard and Cavenago, Francesco and Roa Garzon, Máximo Alejandro and De Stefano, Marco and Mishra, Hrishik and Reiner, Matthias and Govindaraj, Shashank and But, Alexandru and Sanz Nieto, Irene and Gancet, Jeremi and Letier, Pierre and Ilzkovitz, Michel and Gerdes, Levin and Zwick, Martin (2021) Concept of Operations and Preliminary Design of a Modular Multi-Arm Robot using Standard Interconnects for On-Orbit Large Assembly. In: Proceedings of the International Astronautical Congress, IAC. 72nd International Astronautical Congress (IAC), Dubai, United Arab Emirates. ISSN 0074-1795. Volltext nicht frei. file

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

  Deutschmann, Bastian and Chalon, Maxime and Reinecke, Jens and Maier, Maximilian and Ott, Christian (2019) Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model. IEEE Robotics and Automation Letters, 4 (4), pp. 3418-3425. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2019.2927943. ISSN 2377-3766. Volltext nicht frei. file

  Deutschmann, Bastian and Dietrich, Alexander and Ott, Christian (2017) Position Control of an Underactuated Continuum Mechanism using a Reduced Nonlinear Model. In: IEEE Conference on Decision and Control. IEEE. 56th Annual Conference on Decision and Control (CDC), 2017-12-12 - 2017-12-15, Melbourne, VIC, Australia. doi: 10.1109/CDC.2017.8264433. ISBN 978-1-5090-2873-3. Volltext nicht frei. file

  Deutschmann, Bastian and Eugster, Simon and Ott, Christian (2018) Reduced Models for the Static Simulation of an Elastic Continuum Mechanism. IFAC-PapersOnLine, 51 (2), pp. 403-108. IFAC Secretariat. doi: 10.1016/j.ifacol.2018.03.069. ISSN 2405-8963. Volltext nicht frei. file

  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. file

  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. file

  Deutschmann, Bastian and Liu, Tong and Dietrich, Alexander and Ott, Christian and Lee, Dongheui (2018) A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism. IEEE Robotics and Automation Letters, 3 (3), pp. 1450-1457. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2800098. ISSN 2377-3766. Volltext nicht frei. file

  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. file

  Deutschmann, Bastian and Ott, Christian (2015) Feasible Modeling Approaches for Thick Continuum Robots. A Planar Experimental Study. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015-09-28 - 2015-10-02, Hamburg. Volltext nicht frei. file

  Deutschmann, Bastian and Ott, Christian and Monje, Concepcion Alicia and Balaguer, Carlos (2018) Robust Motion Control of a Soft Robotic System Using Fractional Order Control. In: Advances in Service and Industrial Robotics Mechanism and Machine Science, 49 (1). Springer International Publishing. doi: 10.1007/978-3-319-61276-8. ISBN 978-3-319-61275-1. ISSN 2211-0984. Volltext nicht frei. file

  Deutschmann, Bastian and Reinecke, Jens and Dietrich, Alexander (2022) Open Source Tendon-driven Continuum Mechanism: A Platform for Research in Soft Robotics. In: 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022, pp. 54-61. IEEE. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 2022-04-04 - 2022-04-08, Edinborough. doi: 10.1109/RoboSoft54090.2022.9762144. ISBN 978-1-6654-0828-8. file

  Dietrich, Alexander (2015) Whole-Body Impedance Control of Wheeled Humanoid Robots. DLR-Interner Bericht. 572-2015/02. Dissertation. Technische Universität München. 192 S. file

  Dietrich, Alexander (2016) Whole-Body Impedance Control of Wheeled Humanoid Robots. Springer Tracts in Advanced Robotics, 116. Springer International Publishing. doi: 10.1007/978-3-319-40557-5. ISBN 978-3-319-40556-8. ISSN 1610-7438. Volltext nicht frei. file

  Dietrich, Alexander and Bussmann, Kristin and Petit, Florian and Kotyczka, Paul and Ott, Christian and Lohmann, Boris and Albu-Schäffer, Alin (2015) Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin. Autonomous Robots. Springer. doi: 10.1007/s10514-015-9438-z. ISSN 0929-5593. Volltext nicht frei. file

  Dietrich, Alexander and Hogan, Neville (2022) Control of Physical Interaction. In: Encyclopedia of Robotics Living reference work. Springer Berlin Heidelberg. pp. 1-7. doi: 10.1007/978-3-642-41610-1_92-1. ISBN 978-3-642-41610-1. Volltext nicht frei. file

  Dietrich, Alexander and Kimmel, Melanie and Wimböck, Thomas and Hirche, Sandra and Albu-Schäffer, Alin (2014) Workspace Analysis for a Kinematically Coupled Torso of a Torque Controlled Humanoid Robot. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3439-3445. International Conference on Robotics and Automation, 2014-05-31 - 2014-06-07, Hong Kong, China. doi: 10.1109/icra.2014.6907354. file

  Dietrich, Alexander and Ott, Christian (2020) Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots. IEEE Transactions on Robotics, 36 (1), pp. 204-221. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2019.2945876. ISSN 1552-3098. file

  Dietrich, Alexander and Ott, Christian and Albu-Schäffer, Alin (2013) Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3043-3050. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013-11-03 - 2013-11-08, Tokyo, Japan. doi: 10.1109/iros.2013.6696787. file

  Dietrich, Alexander and Ott, Christian and Albu-Schäffer, Alin (2015) An Overview of Null Space Projections for Redundant, Torque Controlled Robots. International Journal of Robotics Research, 34 (11), pp. 1385-1400. SAGE Publications. doi: 10.1177/0278364914566516. ISSN 0278-3649. Volltext nicht frei. filefile

  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. file

  Dietrich, Alexander and Ott, Christian and Stramigioli, S. (2015) Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2015.2512937. ISSN 2377-3766. Volltext nicht frei. file

  Dietrich, Alexander and Wu, Xuwei and Bussmann, Kristin and Harder, Marie Christin and Iskandar, Maged Samuel Zakri and Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2021) Practical Consequences of Inertia Shaping for Interaction and Tracking in Robot Control. Control Engineering Practice, 114. Elsevier. doi: 10.1016/j.conengprac.2021.104875. ISSN 0967-0661. file

  Dietrich, Alexander and Wu, Xuwei and Bussmann, Kristin and Ott, Christian and Albu-Schäffer, Alin Olimpiu and Stramigioli, S. (2016) Passive Hierarchical Impedance Control via Energy Tanks. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2016.2645504. ISSN 2377-3766. Volltext nicht frei. file

  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. file

  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. file

  Dinc, Hüseyin Tugcan and Hulin, Thomas and Rothammer, Michael and Song, HyeonSeok and Willberg, Bertram and Pleintinger, Benedikt and Ryu, Jee-Hwan and Ott, Christian (2022) CoaxHaptics-3RRR: A Novel Coaxial Spherical Parallel Haptic Device. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022-10-23 - 2022-10-27, Kyoto, Japan. ISBN 978-166547927-1. ISSN 2153-0858. file

  Djellab, Badis (2015) Minimizing the effective robot mass in human-robot collisions by exploiting redundancy. DLR-Interner Bericht. 572-2015/23. Master's. Université Pierre & Marie Curie. 44 S. Volltext nicht frei. file

  Driessen, J.J.M and Görner, Martin (2014) The effects of serial elastic actuation and upper body configuration on power consumption of a simplified planar humanoid. Dynamic Walking 2014, 2014-06-10 - 2014-06-13, Zürich, Schweiz. file

  Drost, Sjoerd and Pustina, Pietro and Angelini, Franco and De Luca, Alessandro and Smit, Gerwin and Della Santina, Cosimo (2023) Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm. In: 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, pp. 5291-5297. IEEE. 2023 IEEE International Conference on Robotics and Automation, 2023-05-29 - 2023-06-02, London, UK. doi: 10.1109/ICRA48891.2023.10161397. ISBN 979-835032365-8. ISSN 1050-4729. Volltext nicht online.

  Duarte, Figueiredo (2022) Exploring Self-Motion Manifolds to Optimize Task-Oriented Manipulability of Redundant Robots. Master's, TUM. Volltext nicht online.

  Egle, Tobias (2021) Whole-body Joint Friction Modeling in a Torque-controlled Humanoid Walking Robot. Student thesis, DLR. file

  Egle, Tobias (2021) Development of a Planning Approach for the Transition Between Robotic Walking and Running. Master's, Technical University of Munich (TUM). file

  Egle, Tobias and Englsberger, Johannes and Ott, Christian (2023) Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions. In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022. IEEE. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), 2022-11-28 - 2022-11-30, Ginowan City, Okinawa, Japan. doi: 10.1109/Humanoids53995.2022.10000236. ISBN 979-835030979-9. ISSN 2164-0572. file

  Egle, Tobias and Englsberger, Johannes and Ott, Christian (2024) Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases. In: 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023. IEEE. IEEE-RAS International Conference on Humanoid Robots 2023, 2023-12-12 - 2023-12-14, Austin, USA. doi: 10.1109/Humanoids57100.2023.10375152. ISBN 979-835030327-8. ISSN 2164-0572. file

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

  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. file

  Elhardt, Ferdinand (2018) Vibration Damping for Highly Compliant Robots. Bachelor's, Technische Universität München. file

  Englsberger, Johannes (2016) Combining reduced dynamics models and whole-body control for agile humanoid locomotion. Dissertation. Volltext nicht frei. file

  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. file

  Englsberger, Johannes and Giordano, Alessandro Massimo and Hiddane, Achraf and Schuller, Robert and Loeffl, Florian Christoph and Mesesan, George-Adrian and Ott, Christian (2021) From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness. In: 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020. HUMANOIDS 2020, 2021-07-19 - 2021-07-21, München, Deutschland. doi: 10.1109/HUMANOIDS47582.2021.9555804. ISBN 978-172819372-4. ISSN 2164-0572. file

  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. file

  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. file

  Englsberger, Johannes and Kozlowski, Pawel and Ott, Christian (2015) Dynamic Walking: Biologically inspired dead-beat controller for bipedal running in 3D. Dynamic Walking 2015, 2015-07-21 - 2015-07-24, Columbus, Ohio, USA. Volltext nicht frei. file

  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. file

  Englsberger, Johannes and Kozlowski, Pawel and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2016) Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back. IEEE Transactions on Robotics, 32 (4), pp. 854-867. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2016.2581199. ISSN 1552-3098. Volltext nicht online.

  Englsberger, Johannes and Kozlowski, Pawel and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2016) Biologically Inspired Deadbeat control for running: from human analysis to humanoid control and back. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tro.2016.2581199. ISSN 1552-3098. file

  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. file

  Englsberger, Johannes and Mesesan, George and Ott, Christian and Albu-Schäffer, Alin (2018) DCM-based gait generation for walking on moving support surfaces. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2018-11-06 - 2018-11-09, Beijing, China. doi: 10.1109/HUMANOIDS.2018.8625006. ISSN 2164-0572. file

  Englsberger, Johannes and Mesesan, George and Werner, Alexander and Ott, Christian (2018) Torque-based dynamic walking - A long way from simulation to experiment. 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.2018.8462862. ISBN 978-153863081-5. ISSN 1050-4729. Volltext nicht frei. file

  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. file

  Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin (2013) Three-dimensional bipedal walking control using Divergent Component of Motion. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems (IROS), 2013, 2013-11-03 - 2013-11-08, Tokyo, Japan. doi: 10.1109/IROS.2013.6696723. file

  Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin (2014) 3D locomotion based on Divergent Component of Motion. In: Dynamic Walking 2014. Dynamic Walking 2014, 2014-06-10 - 2014-06-13, Zürich, Schweiz. file

  Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin (2015) Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tro.2015.2405592. ISSN 1552-3098. Volltext nicht frei. file

  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. file

  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. file

  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. filefilefile

  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. file

  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. file

  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. file

  Fialho Coelho, Andre and Sarkisov, Iurii and Wu, Xuwei and Mishra, Hrishik and Singh, Harsimran and Dietrich, Alexander and Franchi, Antonio and Kondak, Konstantin and Ott, Christian (2021) Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. Journal of Intelligent & Robotic Systems, 102 (14). Springer. doi: 10.1007/s10846-021-01365-7. ISSN 0921-0296. file

  Fialho Coelho, Andre and Singh, Harsimran and Kondak, Konstantin and Ott, Christian (2020) Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator. In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. ICRA 2020, 2020-05-31 - 2020-08-31, Paris, Frankreich. doi: 10.1109/ICRA40945.2020.9197028. ISBN 978-172817395-5. ISSN 1050-4729. file

  Fischer, Florian Christoph (2016) Development of Servo-Units for a Compliantly Actuated Quadruped Prototype. DLR-Interner Bericht. IB-RM-OP-2016-80. Master's. Universität Würzburg. 107 S. Volltext nicht frei. file

  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. file

  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. file

  Garofalo, Gianluca (2017) Energy based limit cycle control for elastically actuated biped robots. Dissertation. file

  Garofalo, Gianluca (2019) Global Asymptotic Stabilization with Smooth High-gain/Low-gain Transitions: AVA - Adaptive Variance Algorithm. In: 11th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2019. 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019), Vienna, Austria. ISSN 2405-8963. file

  Garofalo, Gianluca (2019) Global Asymptotic Stabilization with Smooth High-gain/Low-gain Transitions: AVA - Adaptive Variance Algorithm. IFAC-PapersOnLine, pp. 25-30. IFAC Secretariat. doi: 10.1016/j.ifacol.2019.11.750. ISSN 2405-8963. file

  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.

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

  Garofalo, Gianluca and Beck, Fabian and Ott, Christian (2018) Task-space Tracking Control for Underactuated Aerial Manipulators. In: 16th European Control Conference, ECC 2018. IEEE. European Control Conference 2018, 2018-06-12 - 2018-06-15, Limassol, Cyprus. doi: 10.23919/ECC.2018.8550248. ISBN 978-3-9524-2698-2. ISSN 1792-6688. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  Garofalo, Gianluca and Ott, Christian (2016) Energy Based Limit Cycle Control of Elastically Actuated Robots. IEEE Transactions on Automatic Control. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TAC.2016.2599781. ISSN 0018-9286. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

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

  Giordano, Alessandro Massimo and Davide, Calzolari and Alin, Albu-Schäffer (2018) Workspace fixation for free-floating space robot operations. In: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2018-05-21 - 2018-05-25, Brisbane. doi: 10.1109/ICRA.2018.8460478. ISBN 978-153863081-5. ISSN 1050-4729. file

  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. file

  Giordano, Alessandro Massimo and Garofalo, Gianluca and Albu-Schäffer, Alin Olimpiu (2017) Momentum Dumping for Space Robots. In: IEEE Conference on Decision and Control. 56th, 2017-12-12 - 2017-12-15, 2017 IEEE 56th Conference on Decision and Control (CDC). doi: 10.1109/CDC.2017.8264434. file

  Giri, Suraj (2019) Development of a Tactile Thimble for Augmented and Virtual Reality Applications. DLR-Interner Bericht. DLR-IB-RM-OP-2020-22. Master's. Universität Siegen. 74 S. Volltext nicht frei. file

  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. file

  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. file

  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. file

  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. file

  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. file

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

  Görner, Martin (2014) Towards robust hexapedal running with serial elastic actuation: A 3D simulation study. Dynamic Walking 2014, 2014-06-10 - 2014-06-13, Zürich, Schweiz. file

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

  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. file

  Harder, Marie Christin and Iskandar, Maged Samuel Zakri and Lee, Jinoh and Dietrich, Alexander (2023) Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots. In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023. IEEE. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023-10-01 - 2023-10-05, Detroit, MI, USA. doi: 10.1109/IROS55552.2023.10341950. ISBN 978-166549190-7. ISSN 2153-0858. file

  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. file

  Harsch, Matthias (2023) Der CoaxHaptics als sphärischer Parallelmanipulator. Project thesis, Technische Universität München. Volltext nicht frei. file

  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.

  Henry, D. and Cieslak, J. and Torres, J.Z. and Colmenarejo, P. and Branco, J. and Santos, N. and Serra, P. and Telaar, J. and Strauch, Hans and Giordano, Alessandro Massimo and De Stefano, Marco and Ott, Christian and Reiner, Matthias and Jaworsk, J. and Papadopoulos, Evangelos and Visentin, Gianfranco and Ankersen, Finn and Fernandez, J. G. (2019) Model-based fault diagnosis and tolerant control: the ESA’s e.Deorbit mission. In: 18th European Control Conference, ECC 2019. 18th European Control Conference (ECC), 2019-06-25 - 2019-06-28, Napoli, Italy. doi: 10.23919/ECC.2019.8796282. ISBN 978-390714400-8. ISSN 1792-6688. Volltext nicht online.

  Henze, Bernd (2019) Hierarchical Whole-Body Control for Humanoid Robots. In: 2019 International Conference on Robotics and Automation, ICRA 2019. ICRA 2019 Workshop on Continuous Management and Scheduling of multiple simultaneous prioritized Tasks for redundant Robots, 2019-05-23 - 2019-05-24, Montreal, Canada. ISBN 978-153866026-3. ISSN 10504729. Volltext nicht online.

  Henze, Bernd (2020) Whole-Body Control for Multi-Contact Balancing of Humanoid Robots. Dissertation, Technische Universität München. Volltext nicht frei. file

  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. file

  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. file

  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. file

  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. file

  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. file

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

  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. file

  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. file

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

  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. file

  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. file

  Iskandar, Maged and Ott, Christian and Eiberger, Oliver and Keppler, Manuel and Albu-Schäffer, Alin and Dietrich, Alexander (2020) Joint-Level Control of the DLR Lightweight Robot SARA. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, pp. 8903-8910. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020-10-25 - 2020-10-29, Las Vegas, NV, USA. doi: 10.1109/iros45743.2020.9340700. ISBN 978-172816212-6. ISSN 2153-0858. file

  Iskandar, Maged and Wolf, Sebastian (2019) Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation. In: 2019 International Conference on Robotics and Automation, ICRA 2019, pp. 7367-7373. IEEE International Conference on Robotics and Automation ICRA, 2019-05-20 - 2019-05-24, Montreal, Canada. doi: 10.1109/ICRA.2019.8794406. ISBN 978-153866026-3. ISSN 10504729. file

  Iskandar, Maged and van Ommeren, Christiaan and Wu, Xuwei and Albu-Schäffer, Alin Olimpiu and Dietrich, Alexander (2022) Model Predictive Control Applied to Different Time-scale Dynamics of Flexible Joint Robots. IEEE Robotics and Automation Letters, 8 (2), pp. 672-679. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3229226. ISSN 2377-3766. file

  Jafari, Aghil and Singh, Harsimran and Karunanayaka, Harsha and Ryu, Jee-Hwan and Chong, Jj and Etoundi, Appolinaire C. (2018) Lyapunov Observer/Controller for Stable Haptic Interaction. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1-6. IEEE. 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018-07-09 - 2018-07-12, Auckland, New Zealand. doi: 10.1109/AIM.2018.8452311. ISBN 978-1-5386-1854-7. ISSN 2159-6255. Volltext nicht frei. file

  Jeong, Jinyeong and Mishra, Hrishik and Ott, Christian and Kim, MinJun (2022) A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function. 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/ICRA46639.2022.9812268. ISBN 978-172819681-7. ISSN 1050-4729. Volltext nicht online.

  Jin, Maolin and Lee, Jinoh and Seo, Kap-Ho and Suh, Jin-Ho (2021) Self-tuning Control for Articulated Robots Using the Plestan's Method. International Journal of Precision Engineering and Manufacturing, 22, pp. 557-566. Springer. doi: 10.1007/s12541-021-00488-z. ISSN 2234-7593. file

  Jiskra, Patrick (2016) Contact Modeling and Experimental Validation for Start and Landing of VTOL UAVs. DLR-Interner Bericht. DLR-IB-RM-OP-2016-262. Master's. Technical University of Munich (TUM). Volltext nicht frei. file

  Jorda, Mikael and Balachandran, Ribin and Ryu, Jee-Hwan and Khatib, Oussama (2017) New Passivity Observers for Improved Robot Force Control. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, 2017-09-24 - 2017-09-28, Vancouver, Canada. doi: 10.1109/IROS.2017.8206036. ISBN 978-153862682-5. ISSN 2153-0858. Volltext nicht frei. file

  Joshi, Sagar and Beck, Irene and Seth, Ajay and Della Santina, Cosimo (2023) Minimalistic Soft Exosuit for Assisting the Shoulder via Biomechanics-Aware Optimization. In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022, pp. 667-673. IEEE. 2022 IEEE-RAS 21st International Conference on Humanoid Robots, 2022-11-28 - 2022-11-30, Ginowan, Japan. doi: 10.1109/Humanoids53995.2022.10000128. ISBN 979-835030979-9. ISSN 2164-0572. Volltext nicht online.

  Jähne, Christoph (2015) Simulation and Controller Design for a Rover with Serial Elastic Actuators. DLR-Interner Bericht. 572-2015/01. Master's. 124 S. Volltext nicht frei. file

  Kajita, Shuuji and Ott, Christian (2016) Limbed Systems. In: Handbook of Robotics Springer. pp. 419-442. doi: 10.1007/978-3-319-32552-1_17. Volltext nicht online.

  Kaminaga, Hiroshi and Englsberger, Johannes and Ott, Christian (2012) Online swing foot trajectory optimization for improving bipedal walking. In: 30th Annual Conference of the Robotics Society of Japan. 30th Annual Conference of the Robotics Society of Japan (RSJ 2012), 2012-09-17 - 2012-09-20, Sapporo, Japan. Volltext nicht online.

  Karademir, Ertugrul (2018) Motion Primitive Learning for Robot-Assisted Surgery. Master's, Technical University of Munich. Volltext nicht frei. file

  Keppler, Manuel (2014) System Identification, Design and Flight Testing H∞ Controllers for Heave Dynamics of RUAV. DLR-Interner Bericht. 572-2014/27. Diploma. Vienna University of Technology. 126 S. file

  Keppler, Manuel and De Luca, Alessandro (2020) On Time-Optimal Control of Elastic Joints under Input Constraints. In: 59th IEEE Conference on Decision and Control, CDC 2020. IEEE. 59th Conference on Decision and Control, 2020-12-14 - 2020-12-18, Jeju Island, Republic of Korea. doi: 10.1109/CDC42340.2020.9304224. ISBN 978-172817447-1. ISSN 0743-1546. file

  Keppler, Manuel and Lakatos, Dominic and Ott, Christian and Albu-Schäffer, Alin (2016) A Passivity-Based Approach for Trajectory Tracking and Link-Side Damping of Compliantly Actuated Robots. In: IEEE International Conference on Robotics and Automation ICRA. ICRA 2016 IEEE International Conference on Robotics and Automation, 2016-05-16 - 2016-05-21, Stockholm, Sweden. doi: 10.1109/ICRA.2016.7487239. file

  Keppler, Manuel and Lakatos, Dominic and Ott, Christian and Albu-Schäffer, Alin (2016) A Passivity-Based Controller for Motion Tracking and Damping Assignment for Compliantly Actuated Robots. In: IEEE Conference on Decision and Control, pp. 1521-1528. 55th IEEE Conference on Decision and Control, 2016-12-12 - 2016-12-15, Las Vegas, USA. doi: 10.1109/CDC.2016.7798482. file

  Keppler, Manuel and Lakatos, Dominic and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2018) Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tro.2017.2776314. ISSN 1552-3098. file

  Keppler, Manuel and Lakatos, Dominic and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2018) Elastic Structure Preserving Impedance (ESPi) Control for Compliantly Actuated Robots. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. IEEE. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/IROS.2018.8593415. ISBN 978-153868094-0. ISSN 2153-0858. file

  Keppler, Manuel and Lakatos, Dominic and Ott, Christian and Alin, Albu-Schäffer (2018) Visco-Elastic Structure Preserving Impedance (VESPi) Control for Compliantly Actuated Robots. In: 16th European Control Conference, ECC 2018. IEEE. ECC 2018, 2018-06-12 - 2018-06-15, Limassol, Cyprus. doi: 10.23919/ECC.2018.8550200. ISBN 978-3-9524-2698-2. ISSN 1792-6688. file

  Keppler, Manuel and Loeffl, Florian Christoph and Wandinger, David and Raschel, Clara Maria and Ott, Christian (2021) Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3097079. ISSN 2377-3766. file

  Keppler, Manuel and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2022) From underactuation to quasi-full actuation: Aiming at a unifying control framework for articulated soft robots. International Journal of Robust and Nonlinear Control, 32 (9), pp. 5453-5484. Wiley. doi: 10.1002/rnc.6102. ISSN 1049-8923. file

  Keppler, Manuel and Raschel, Clara Maria and Wandinger, David and Stemmer, Andreas and Ott, Christian (2022) Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments. IEEE Robotics and Automation Letters, 7 (3), pp. 8283-8290. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3187277. ISSN 2377-3766. file

  Kim, Dongwon and Lee, Jinoh (2020) Robust Control of a System with a Pneumatic Spring. Journal of the Franklin Institute. Elsevier. doi: 10.1016/j.jfranklin.2020.10.037. ISSN 0016-0032. file

  Kim, MinJun and Balachandran, Ribin and De Stefano, Marco and Kondak, Konstantin and Ott, Christian (2018) Passive compliance control of aerial manipulators. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/iros.2018.8593718. ISBN 978-153868094-0. ISSN 2153-0858. file

  Kim, MinJun and Beck, Fabian and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2019) Model-free Friction Observers for Flexible Joint Robots with Torque Measurements. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tro.2019.2926496. ISSN 1552-3098. file

  Kim, MinJun and Kondak, Konstantin and Ott, Christian (2018) A stabilizing controller for regulation of uav with manipulator. IEEE Robotics and Automation Letters, 3 (3), pp. 1719-1726. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2803205. ISSN 2377-3766. file

  Kim, MinJun and Lee, Woongyong and Choi, Jaeyeon and Chung, Goobong and Han, Kyung-Lyong Han and Choi, Il Seop and Ott, Christian and Chung, Wan Kyun (2019) A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions. IEEE-ASME Transactions on Mechatronics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tmech.2019.2912488. ISSN 1083-4435. file

  Kim, MinJun and Lin, Jianjie and Kondak, Konstantin and Lee, Dongheui and Ott, Christian (2018) Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses. In: 12th International IFAC Symposium on Robot Control, 51 (22). 12th IFAC Symposium on Robot Control, Budapest, Hungary. doi: 10.1016/j.ifacol.2018.11.590. ISSN 2405-8963. file

  Kim, MinJun and Werner, Alexander and Loeffl, Florian Christoph and Ott, Christian (2017) Enhancing joint torque control of series elastic actuators with physical damping. In: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. IEEE International Conference on Robotics and Automation (ICRA) 2017, 2017-05-29 - 2017-06-03, Singapore. doi: 10.1109/ICRA.2017.7989145. ISBN 978-150904633-1. ISSN 1050-4729. Volltext nicht online.

  Kim, MinJun and Werner, Alexander and Loeffl, Florian Christoph and Ott, Christian (2021) Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2021.3071617. ISSN 1552-3098. file

  Kim, Minjun and Lee, Woongyong and Ott, Christian and Chung, Wan Kyun (2016) A Passivity-Based Admittance Control Design using Feedback Interconnections. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016-10-09 - 2016-10-14, Daejeon, Korea. doi: 10.1109/IROS.2016.7759143. Volltext nicht online.

  Kindsmüller, Tobias (2017) Vertical Wheel Force Control for a Planetary Rover. DLR-Interner Bericht. DLR-IB-RM-OP-2017-83. Master's. Technische Universität München. 70 S. Volltext nicht frei. file

  Kirner, Annika (2021) An Adaptive Control Approach with Automatic Gain Blending for Robot Manipulators under Dynamic Uncertainties. DLR-Interner Bericht. DLR-IB-RM-OP-2021-219. Master's. Technical University of Munich. Volltext nicht frei. file

  Klodmann, Julian and Lakatos, Dominic and Ott, Christian and Albu-Schäffer, Alin (2015) A Closed-Form Approach to Determine the Base Inertial Parameters of Complex Structured Robotic Systems. 8th Vienna International Conference on Mathematical Modelling, 2015-02-18 - 2015-02-20, Wien. doi: 10.1016/j.ifacol.2015.05.021. Volltext nicht frei. file

  Krishnan, Pooja and Raffin, Antonin and Klodmann, Julian and Triebel, Rudolph (2020) Recognition and segmentation of surgical gestures. In: CARS 2020—Computer Assisted Radiology and Surgery, Proceedings of the 34th International Congress and Exhibition, 15. CARS 2020—Computer Assisted Radiology and Surgery, Proceedings of the 34th International Congress and Exhibition, 2020-06-23 - 2020-06-27, Munich. doi: 10.1007/s11548-020-02171-6. Volltext nicht frei. file

  Kulkarni, Padmaja and Kober, Jens and Babuška, Robert and Della Santina, Cosimo (2021) Learning Assembly Tasks in a Few Minutes by Combining Impedance Control and Residual Recurrent Reinforcement Learning. Advanced Intelligent Systems, 4 (1). Wiley. doi: 10.1002/aisy.202100095. ISSN 2640-4567. file

  Lakatos, Dominic (2018) Multi-Dimensional Nonlinear Oscillation Control of Compliantly Actuated Robots. Dissertation, Technische Universität München. Volltext nicht frei. file

  Lakatos, Dominic and Albu-Schäffer, Alin (2014) Neuron model interpretation of a cyclic motion control concept. In: 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 905-910. IEEE. 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014-08-12 - 2014-08-15, Sao Paulo, Brasilien. doi: 10.1109/BIOROB.2014.6913896. ISBN 978-1-4799-3126-2. file

  Lakatos, Dominic and Albu-Schäffer, Alin (2014) Switching Based Limit Cycle Control for Compliantly Actuated Second-Order Systems. In: 19th IFAC World Congress, 19 (1), pp. 6392-6399. IFAC. 19th IFAC World Congress, 2014-08-24 - 2014-08-29, Kapstadt, Südafrika. doi: 10.3182/20140824-6-ZA-1003.02001. ISBN 978-3-902823-62-5. file

  Lakatos, Dominic and Albu-Schäffer, Alin (2016) Modal Matching: An Approach to Natural Compliant Jumping Control. IEEE Robotics and Automation Letters, 1 (1), pp. 274-281. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2016.2519601. ISSN 2377-3766. file

  Lakatos, Dominic and Albu-Schäffer, Alin and Rode, Christian and Loeffl, Florian Christoph (2016) Dynamic Bipedal Walking by Controlling only the Equilibrium of Intrinsic Elasticities. In: IEEE-RAS International Conference on Humanoid Robots, pp. 1282-1289. 2016 IEEE-RAS International Conference on Humanoid Robots, 2016-11-15 - 2016-11-17, Cancun, Mexiko. doi: 10.1109/HUMANOIDS.2016.7803435. file

  Lakatos, Dominic and Federigi, Yuri and Gumpert, Thomas and Henze, Bernd and Hermann, Milan and Loeffl, Florian Christoph and Schmidt, Florian and Seidel, Daniel and Albu-Schäffer, Alin Olimpiu (2019) A Coordinate-Based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots. 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.2019.8793920. ISBN 978-153866026-3. ISSN 10504729. Volltext nicht online.

  Lakatos, Dominic and Friedl, Werner and Albu-Schäffer, Alin (2017) Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots with Elastic Elements. IEEE Robotics and Automation Letters (2), pp. 1062-1069. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2017.2658018. ISSN 2377-3766. file

  Lakatos, Dominic and Garofalo, Gianluca and Dietrich, Alexander and Albu-Schäffer, Alin (2014) Jumping Control for Compliantly Actuated Multilegged Robots. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4562-4568. International Conference on Robotics and Automation, 2014-05-31 - 2014-06-07, Hong Kong, China. doi: 10.1109/icra.2014.6907525. file

  Lakatos, Dominic and Petit, Florian and Albu-Schäffer, Alin (2014) Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms. IEEE Transactions on Robotics, 30 (4), pp. 865-879. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2014.2308371. ISSN 1552-3098. file

  Lakatos, Dominic and Ploeger, Kai Fabian and Loeffl, Florian Christoph and Seidel, Daniel and Schmidt, Florian and Gumpert, Thomas and John, Freia and Bertram, Torsten and Albu-Schäffer, Alin (2018) Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design. IEEE Robotics and Automation Letters, 3 (4), pp. 3908-3915. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2857511. ISSN 2377-3766. file

  Lakatos, Dominic and Rode, Christian and Seyfarth, Andre and Albu-Schäffer, Alin (2014) Design and Control of Compliantly Actuated Bipedal Running Robots: Concepts to Exploit Natural System Dynamics. In: IEEE-RAS International Conference on Humanoid Robots, pp. 930-937. IEEE/RAS. 2014 IEEE-RAS International Conference on Humanoid Robots, 2014-11-18 - 2014-11-20, Madrid, Spanien. doi: 10.1109/HUMANOIDS.2014.7041475. ISBN 978-1-4799-7173-2. file

  Lakatos, Dominic and Seidel, Daniel and Friedl, Werner and Albu-Schäffer, Alin (2015) Targeted Jumping of Compliantly Actuated Hoppers based on Discrete Planning and Switching Control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5802-5808. IEEE. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015-09-28 - 2015-10-02, Hamburg, Deutschland. doi: 10.1109/IROS.2015.7354201. file

  Lakatos, Kristin and Baldauf, Niklas and Turnwald, Alen (2024) Towards learning-based trajectory tracking control for a planetary exploration rover: Development and testing. In: 1st International Conference on Space Robotics. International Conference on Space Robotics, 2024-06-24 - 2024-06-27, Luxembourg. file

  Lakatos, Kristin and Lakatos, Dominic and Wu, Xuwei and Kotyczka, Paul and Dietrich, Alexander (2024) On passivity-based trajectory tracking for robotic manipulators combining PD+ and Slotine-Li control. at - Automatisierungstechnik. Walter de Gruyter GmbH. ISSN 0178-2312. file

  Le-Tien, Luc (2017) Passivity based on Energy Tank for Cartesian Impedance Control of Redundant Free-Flying Space Robots with Elastic Joints. Vietnam International Conference and Exhibition on Control and Automation, 2017-12-01 - 2017-12-02, Ho Chi Minh. file

  Le-Tien, Luc and Albu-Schäffer, Alin (2014) Improving Tracking Accuracy of a MIMO State Feedback Controller for Elastic Joint Robots. In: IEEE Conference on Decision and Control (ISSN: 0733-8716), pp. 4548-4553. IEEE Conference on Decision and Control, 2014-12-13 - 2014-12-17, Los Angeles, USA. doi: 10.1109/CDC.2014.7040099. ISBN 978-1-4673-6088-3/14/$31.00 ©2014 IEEE. ISSN 0733-8716.

  Le-Tien, Luc and Albu-Schäffer, Alin (2017) Robust Adaptive Tracking Control based on State Feedback Controller with Integrator Terms for Elastic Joint Robots with Uncertain Parameters. IEEE Transactions on Control Systems Technology. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TCST.2017.2749564. ISSN 1063-6536. file

  Le-Tien, Luc and Alin, Albu-Schäffer (2016) Decoupling and Tracking Control for Elastic Joint Robots with Coupled Joint Structure. Advanced Robotics, pp. 1-20. Taylor & Francis. doi: 10.1080/01691864.2016.1264886. ISSN 0169-1864. file

  Lee, Hyunwook and Lee, Jinoh and Keppler, Manuel and Oh, Sehoon (2024) Robust Elastic Structure Preserving Control for High Impedance Rendering of Series Elastic Actuator. IEEE Robotics and Automation Letters, pp. 1-8. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2024.3366016. ISSN 2377-3766. file

  Lee, Hyunwook and Ryu, Jee-Hwan and Lee, Jinoh and Oh, Sehoon (2020) Passivity Controller Based on Load-Side Damping Assignment for High Stiffness Controlled Series Elastic Actuators. IEEE Transactions on Industrial Electronics, 68 (1), pp. 871-881. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tie.2020.3013751. ISSN 0278-0046. file

  Lee, Jinoh (2020) Post-Failure Actions in Humanoids. In: 20th International Conference on Control, Automation and Systems, ICCAS 2020. 20th International Conference on Control, Automation and Systems (ICCAS), 2020-10-13 - 2020-10-16, Pusan, South Korea (Virtual). ISBN 978-899321520-5. ISSN 1598-7833. Volltext nicht frei. file

  Lee, Jongseok (2017) High Fidelity Modelling for High Altitude Long Endurance Solar Powered Aircraft. DLR-Interner Bericht. DLR-IB-RM-OP-2017-115. Master's. ETH Zürich. 84 S. file

  Lee, Kwang-Hyun and Singh, Harsimran and Hulin, Thomas and Ryu, Jee-Hwan (2022) Simultaneous Use of Autonomy Guidance Haptic Feedback and Obstacle Avoiding Force Feedback for Mobile Robot Teleoperation. In: 22nd International Conference on Control, Automation and Systems, ICCAS 2022. IEEE. The 22st International Conference on Control, Automation and Systems (ICCAS 2022), 2022-11-27 - 2022-12-01, Busan, Korea. doi: 10.23919/ICCAS55662.2022.10003886. ISBN 978-89-93215-24-3. ISSN 1598-7833. Volltext nicht frei. file

  Lee, Woongyong and Kim, MinJun and Chung, Wan Kyun (2017) Disturbance-Observer-Based PD Control of Electro-Hydrostatically Actuated Flexible Joint Robots. 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.2017.8206113. Volltext nicht online.

  Lee, Woongyong and Kim, MinJun and Chung, Wan Kyun (2019) Asymptotically Stable Disturbance Observer-Based Compliance Control of Electro-Hydrostatic Actuators. IEEE-ASME Transactions on Mechatronics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/tmech.2019.2958490. ISSN 1083-4435. Volltext nicht frei. file

  Lee, Yisoo and Ahn, Junwhee and Lee, Jinoh and Park, Jaeheung (2021) Computationally Efficient HQP-based Whole-body Control Exploiting the Operational-space Formulation. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, pp. 5174-5179. IEEE. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021-09-27 - 2021-10-01, Prague, Czech Republic, Online. doi: 10.1109/IROS51168.2021.9636867. ISBN 978-166541714-3. ISSN 2153-0858. filefile

  Lee, Yisoo and Kim, Sanghyun and Park, Jaeheung and Tsagarakis, Nikos and Lee, Jinoh (2021) A Whole-Body Control Framework Based on the Operational Space Formulation Under Inequality Constraints via Task-Oriented Optimization. IEEE Access, 9, pp. 39813-39826. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/ACCESS.2021.3064151. ISSN 2169-3536. file

  Lee, Yisoo and Lee, Hosang and Lee, Jinoh and Park, Jaeheung (2022) Toward Reactive Walking: Control of Biped Robots Exploiting an Event-Based FSM. IEEE Transactions on Robotics, 38 (2), pp. 683-698. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2021.3088062. ISSN 1552-3098. file

  Lee, Yisoo and Tsagarakis, Nikos and Lee, Jinoh (2021) Study on operational space control of a redundant robot with un-actuated joints: experiments under actuation failure scenarios. Nonlinear Dynamics, 105 (1), pp. 331-344. Springer. doi: 10.1007/s11071-021-06545-6. ISSN 0924-090X. file

  Lee, Yisoo and Tsagarakis, Nikos and Ott, Christian and Lee, Jinoh (2022) A Generalized Index for Fault-tolerant Control in Operational Space under Free-swinging Actuation Failure. IEEE Robotics and Automation Letters, 7 (2), pp. 1486-1493. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3140425. ISSN 2377-3766. file

  Leggieri, Sergio and Canali, Carlo and Cannella, Ferdinando and Lee, Jinoh and Caldwell, Darwin G. (2021) Preliminary Study on the Crawler Unit of a Novel Self-Reconfigurable Hybrid Platform for Inspection. In: 20th International Conference on Advanced Robotics, ICAR 2021, pp. 77-82. 20th International Conference on Advanced Robotics, 2021-12-06 - 2021-12-10, Ljubljana, Slovenia (Virtual). doi: 10.1109/ICAR53236.2021.9659426. ISBN 978-166543684-7. filefile

  Li, Shuguang and Awale, Samer A. and Bacher, Katharine E. and Buchner, Thomas J. and Della Santina, Cosimo and Wood, Robert J. and Rus, Daniela (2022) Scaling Up Soft Robotics: A Meter-Scale, Modular, and Reconfigurable Soft Robotic System. Soft Robotics, 9 (2), pp. 324-336. Mary Ann Liebert. doi: 10.1089/soro.2020.0123. ISSN 2169-5172. Volltext nicht online.

  Lin, Jianjie (2017) Simulation study on control concepts for a floating platform manipulation. DLR-Interner Bericht. DLR-IB-RM-OP-2017-125. Master's. Volltext nicht frei. file

  Liu, Tong (2017) Alternative Approach to Identify the Stiffness Characteristic of a Soft Continuum Mechanism. DLR-Interner Bericht. DLR-IB-RM-OP-2016-288. Master's. Institute of Robotics and Mechatronics. 85 S. Volltext nicht frei. file

  Lohr, Sebastian (2022) Contact-Robust Whole-Body Control for Torque-Based Humanoid Robots. Master's, Technische Universität München (TUM). file

  Ludovico, Daniele and Guardiani, Paolo and Lasagni, Francesco and Lee, Jinoh and Cannella, Ferdinando and Caldwell, Darwin G. (2021) Design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach. IEEE Robotics and Automation Letters, 6 (2), pp. 958-965. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3056358. ISSN 2377-3766. file

  Ludovico, Daniele and Guardiani, Paolo and Pistone, Alessandro and Lee, Jinoh and Cannella, Ferdinando and Caldwell, Darwin G. and Canali, Carlo (2020) Modeling Cable-Driven Joint Dynamics and Friction: a Bond-Graph Approach. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, pp. 7285-7291. IEEE. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020-10-25 - 2020-10-29, Las Vegas, NV, USA (Virtual). doi: 10.1109/IROS45743.2020.9341763. ISBN 978-172816212-6. ISSN 2153-0858. file

  Löw, Thomas (2022) Performance Measures for Bilateral Telemanipulation. DLR-Interner Bericht. DLR-IB-RM-OP-2022-97. Bachelor's. Munich University of Applied Sciences. 85 S. Volltext nicht frei. file

  Maier, Moritz (2018) Bidirectional Thrust for Multirotor MAVs with Fixed-Pitch Propellers. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, pp. 5727-5734. IEEE/RSJ. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/iros.2018.8593836. ISBN 978-153868094-0. ISSN 2153-0858. Volltext nicht frei. file

  Maier, Moritz and Keppler, Manuel and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2020) Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots. IEEE Robotics and Automation Letters, 5 (2), pp. 1445-1452. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2967333. ISSN 2377-3766. Volltext nicht online.

  Maier, Moritz and Kondak, Konstantin (2015) Landing of VTOL UAVs Using a Stationary Robot Manipulator: A New Approach for Coordinated Control. In: IEEE Conference on Decision and Control, pp. 1497-1502. IEEE Control Systems Society (CSS). IEEE Conference on Decision and Control (CDC), 2015-12-15 - 2015-12-18, Osaka, Japan. doi: 10.1109/CDC.2015.7402422. ISBN 978-1-4799-7885-4. file

  Maier, Moritz and Kondak, Konstantin (2017) Robot Assisted Landing of VTOL UAVs on Ships: A Simulation Case Study of the Touch-down Phase. In: 1st IEEE Conference on Control Technology and Applications. IEEE Control Systems Society. 1st IEEE Conference on Control Technology and Applications, 2017-08-27 - 2017-08-30, Hawai'i, USA. doi: 10.1109/CCTA.2017.8062762. Volltext nicht frei. file

  Maier, Moritz and Kondak, Konstantin and Oeschger, André (2015) Robot-assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-space Control Approaches. IEEE Robotics and Automation Letters, 1 (1), pp. 114-121. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2015.2502920. ISSN 2377-3766. file

  Maier, Moritz and Kondak, Konstantin and Ott, Christian (2017) Enabling Robot Assisted Landing of Heavy UAV Rotorcraft via Combined Control and Workload Sharing. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017-09-24 - 2017-09-28, Vancouver, Canada. doi: 10.1109/iros.2017.8206399. Volltext nicht online.

  Maier, Moritz and Oeschger, André and Kondak, Konstantin (2016) Robot-assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-space Control Approaches. In: IEEE International Conference on Robotics and Automation ICRA. IEEE Robotics and Automation Society. International Conference on Robotics and Automation (ICRA), 2016-05-16 - 2016-05-21, Stockholm, Sweden. Volltext nicht frei. file

  Mansfeld, Nico and Beck, Fabian and Dietrich, Alexander and Haddadin, Sami (2017) Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant Manipulators. In: IEEE International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems, 2017-09-24 - 2017-09-28, Vancouver, Kanada. doi: 10.1109/iros.2017.8206432. Volltext nicht frei. file

  Mansfeld, Nico and Djellab, Badis and Raldua Veuthey, Jaime and Beck, Fabian and Haddadin, Sami (2017) Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017-09-24 - 2017-09-28, Vancouver, Kanada. doi: 10.1109/IROS.2017.8206435. Volltext nicht frei. file

  Mansfeld, Nico and Haddadin, Sami (2014) Braking elastic joint robots in near-minimum time. International Workshop on Human-Friendly Robotics, 2014-10-23 - 2014-10-24, Pontedera, Italien. file

  Mansfeld, Nico and Haddadin, Sami (2014) Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3904-3911. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014-09-14 - 2014-09-18, Chicago IL, USA. doi: 10.1109/IROS.2014.6943111.

  Mansfeld, Nico and Haddadin, Sami (2013) Collision Analysis and Safety Evaluation using a Collision Model for Blunt Robot-Human Impacts. In: International Workshop on Human-Friendly Robotics. International Workshop on Human-Friendly Robotics, 2013-09-25 - 2013-09-26, Rom, Italien. file

  Mansfeld, Nico and Haddadin, Sami (2015) A Comparison of Braking Strategies for Elastic Joint Robots. In: IEEE International Conference on Robotics and Automation (ICRA). International Conference on Robotics and Automation, 2015-05-26 - 2015-05-30, Seattle, USA. doi: 10.1109/icra.2015.7139268. file

  Mansfeld, Nico and Hamad, Mazin and Becker, Marvin and Gonzales Marin, Antonio and Haddadin, Sami (2018) Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties. IEEE Robotics and Automation Letters, 3 (3), pp. 1880-1887. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2018.2801477. ISSN 2377-3766. Volltext nicht online.

  Mansfeld, Nico and Keppler, Manuel and Haddadin, Sami (2021) Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3068698. ISSN 2377-3766. Volltext nicht online.

  Mansfeld, Nico and Ott, Christian and Haddadin, Sami (2016) Maximal Input Limits for Independent SISO Control in Modal Space Under Consideration of Actuator Constraints. In: Proceedings of the American Control Conference. American Control Conference, 2016-06-06 - 2016-06-08, Boston MA, USA. doi: 10.1109/ACC.2016.7526730. Volltext nicht frei. file

  Martin, Luca (2024) Optimization of the Intrinsic Stiffnesses of a Robot with Variable-Stiffness-Actuators under External Disturbances with Respect to Control Effort. DLR-Interner Bericht. DLR-IB-RM-OP-2024-37. Master's. Technische Universität München. 82 S. (Submitted) file

  Matzkowitz, Martin (2015) Positions- und Drehmomentregelung eines elastisch angetriebenen Roboterbeingelenkes. DLR-Interner Bericht. DLR-IB 572-2015/12. Diploma. Volltext nicht frei. file

  Meiner, Matthias (2014) Cartesian Stiffness Optimization for Robots with Variable Stiffness Joints: Analysis and Control. DLR-Interner Bericht. 572-2014/03. Diploma. Technische Universität München. 104 S. Volltext nicht frei. file

  Meng, Xuming and Keppler, Manuel and Ott, Christian (2021) Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation. In: 2021 European Control Conference, ECC 2021, pp. 263-269. 2021 European Control Conference (ECC 2021), 2021-06-29 - 2021-07-02, Rotterdam, The Netherlands. doi: 10.23919/ECC54610.2021.9655122. ISBN 978-946384236-5. file

  Meng, Xuming and Keppler, Manuel and Ott, Christian (2022) Passivity-based Motion and Force Tracking Control for Constrained Elastic Joint Robots. IEEE Control Systems Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3187345. ISSN 2475-1456. file

  Meng, Xuming and Weitschat, Roman (2021) Dynamic Projection of Human Motion for Safe and Efficient Human-Robot Collaboration. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, pp. 3765-3771. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021-05-30 - 2021-06-05, Xi'an, China. doi: 10.1109/ICRA48506.2021.9561726. ISBN 978-172819077-8. ISSN 1050-4729. file

  Mengacci, Riccardo and Keppler, Manuel and Pfanne, Martin and Bicchi, Antonio and Ott, Christian (2021) Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa). IEEE Robotics and Automation Letters, 6 (2), pp. 879-886. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3052434. ISSN 2377-3766. Volltext nicht online.

  Mesesan, George (2016) Dynamic Multi-contact Transitions for Humanoid Robots. DLR-Interner Bericht. DLR-IB-RM-OP-2016-209. Diploma. Technische Universität München. Volltext nicht frei. file

  Mesesan, George and Englsberger, Johannes and Henze, Bernd and Ott, Christian (2017) Dynamic Multi-contact Transitions for Humanoid Robots using Divergent Component of Motion. In: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. IEEE. IEEE International Conference on Robotics and Automation (ICRA) 2017, 2017-05-29 - 2017-06-03, Singapore. doi: 10.1109/ICRA.2017.7989473. ISBN 978-150904633-1. ISSN 1050-4729. file

  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. file

  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. file

  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. file

  Mishra, Hrishik and De Stefano, Marco and Giordano, Alessandro Massimo and Ott, Christian (2018) Tracking Control with Robotic Systems for a Moving Target: A Vector Lyapunov Function Approach. In: IFAC Proceedings Volumes (IFAC-PapersOnline), 51 (22), pp. 471-478. ScienceDirect. 12th IFAC Symposium on Robot Control SYROCO, 2018-08-27 - 2018-08-30, Budapest, Hungary. doi: 10.1016/j.ifacol.2018.11.589. ISSN 2405-8963. Volltext nicht frei. file

  Mishra, Hrishik and De Stefano, Marco and Giordano, Alessandro Massimo and Ott, Christian (2019) A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements. In: 2019 American Control Conference, ACC 2019, pp. 1114-1121. IEEE. 2019 American Control Conference (ACC), 2019-07-10 - 2019-07-12, Philadelphia, PA, USA, USA. doi: 10.23919/ACC.2019.8814815. ISBN 978-1-5386-7926-5. ISSN 2378-5861. Volltext nicht frei. filefile

  Mishra, Hrishik and De Stefano, Marco and Giordano, Alessandro Massimo and Ott, Christian (2021) Output Feedback Stabilization of an Orbital Robot. In: 59th IEEE Conference on Decision and Control, CDC 2020. IEEE. 2020 59th IEEE Conference on Decision and Control (CDC), 2020-12-14 - 2020-12-18, Jeju, Korea (South). doi: 10.1109/CDC42340.2020.9304044. ISBN 978-172817447-1. ISSN 0743-1546. Volltext nicht online.

  Mishra, Hrishik and De Stefano, Marco and Ott, Christian (2022) Dynamics and Control of a Reconfigurable Multi-Arm Robot for In-Orbit Assembly. IFAC-PapersOnLine, 55 (20), pp. 235-240. IFAC Secretariat. doi: 10.1016/j.ifacol.2022.09.101. ISSN 2405-8963. file

  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.

  Mishra, Hrishik and Giordano, Alessandro Massimo and De Stefano, Marco and Lampariello, Roberto and Ott, Christian (2021) Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces. 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/IROS45743.2020.9341633. ISBN 978-172816212-6. ISSN 2153-0858. Volltext nicht online.

  Molzer, Martin (2023) Inertial Parameter Identification of a Humanoid Robot with Kinematic Couplings. DLR-Interner Bericht. DLR-IB-RM-OP-2023-28. Master's. Technische Universität München. 59 S. Volltext nicht frei. file

  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. file

  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.

  Muskardin, Tin (2020) Autonomous landing of fixed-wing aircraft on mobile platforms. Dissertation, Universidad de Sevilla. file

  Muskardin, Tin and Balmer, Georg and Persson, Linnea and Wlach, Sven and Laiacker, Maximilian and Ollero, Anibal and Kondak, Konstantin (2016) A Novel Landing System to Increase Payload Capacity and Operational Availability of High Altitude Long Endurance UAV. In: 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016. The 2016 International Conference on Unmanned Aircraft Systems, 2016-06-07 - 2016-06-10, Arlington, VA, USA. doi: 10.1109/ICUAS.2016.7502668. Volltext nicht frei. file

  Muskardin, Tin and Balmer, Georg Robert and Persson, Linnea and Wlach, Sven and Laiacker, Maximilian and Ollero, Anibal and Kondak, Konstantin (2017) A Novel Landing System to Increase Payload Capacity and Operational Availibility of High Altitude Long Endurance UAVs. Journal of Intelligent & Robotic Systems. Springer. doi: 10.1007/s10846-017-0475-z. ISSN 0921-0296. Volltext nicht frei. file

  Muskardin, Tin and Balmer, Georg Robert and Wlach, Sven and Kondak, Konstantin and Laiacker, Maximilian and Ollero, Anibal (2016) Landing of a Fixed-wing UAV on a Mobile Ground Vehicle. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation 2016, 2016-05-16 - 2016-05-21, Stockholm, Schweden. doi: 10.1109/icra.2016.7487254. Volltext nicht frei. file

  Muskardin, Tin and Fialho Coelho, Andre and Rodrigues Della Noce, Eduardo and Ollero, Anibal and Kondak, Konstantin (2020) Energy-Based Cooperative Control for Landing Fixed-Wing UAVs on Mobile Platforms Under Communication Delays. IEEE Robotics and Automation Letters, pp. 5081-5088. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.3005374. ISSN 2377-3766. file

  Mühlbauer, Maximilian Sebastian and Steinmetz, Franz and Stulp, Freek and Hulin, Thomas and Albu-Schäffer, Alin Olimpiu (2022) Multi-Phase Multi-Modal Haptic Teleoperation. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022-10-23 - 2022-10-27, Kyoto, Japan. doi: 10.1109/IROS47612.2022.9981525. ISBN 978-166547927-1. ISSN 2153-0858. file

  Neumann, Oliver Sebastian (2021) Concept and Design of Continuum Joints for the Use in a Dynamic Walking Robot. Master's, Technische Universität München (TUM). Volltext nicht frei. file

  Oeschger, André (2015) Nichtlineare Modellierung und lineare Regelung eines neuartigen robotischen Landesystems für Drehflügler-UAVs. DLR-Interner Bericht. DLR-IB 572-2015/25. Diploma. Universität Stuttgart. 96 S. file

  Ogawa, Yusuke and Ott, Christian and Venture, Gentiane (2014) Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces. In: IEEE-RAS International Conference on Humanoid Robots. 2014 IEEE-RAS International Conference on Humanoid Robots, 2014-11-18 - 2014-11-20, Madrid, Spanien. doi: 10.1109/HUMANOIDS.2014.7041401. Volltext nicht online.

  Ott, Christian (2014) Towards bipedal locomotion using energy based limit cycle control. In: Dynamic Walking 2014. Dynamic Walking 2014, 2014-06-10 - 2014-06-13, Zürich. Volltext nicht online.

  Ott, Christian (2014) Recent results with the torque controlled humanoid robot TORO. French-German-Japanese Conference on Humanoid and Legged Robots (HLR 2014), 2014-05-12 - 2014-05-14, Heidelberg, Deutschland. Volltext nicht online.

  Ott, Christian (2014) Torque based whole body motion control for humanoid robots. Full-day Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014-09-14 - 2014-09-18, Chicago, USA. Volltext nicht online.

  Ott, Christian (2014) Semi-definite Lyapunov functions as a tool for stability analysis of redundant robots. Full-day Workshop at Humanoids 2014, 2014-11-18 - 2014-11-20, Madrid, Spanien. Volltext nicht online.

  Ott, Christian (2014) Development and Control of Compliant Humanoid Robots at DLR. Half Day Workshop at Humanoids 2014, 2014-11-18 - 2041-11-20, Madrid, Spanien. Volltext nicht online.

  Ott, Christian (2014) Development and Control of Compliant Humanoid Robots at DLR. Joint Academies’ Symposium of the German National Academy of Sciences Leopoldina and the Korean Academy of Science and Technology (KAST), 2014-10-27 - 2014-10-28, München, Deutschland. Volltext nicht online.

  Ott, Christian (2014) Compliant Humanoid Robots Developed at DLR. LIRMM HRP-4 Inaugural Workshop, 2014-03-06 - 2014-03-07, Montpellier, Frankreich. Volltext nicht online.

  Ott, Christian (2014) Torque based whole body motion control for humanoid robots. National Journeys on Humanoid Robotics, Paris, Frankreich. Volltext nicht online.

  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. file

  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.

  Ott, Christian and Dietrich, Alexander and Leidner, Daniel and Werner, Alexander and Englsberger, Johannes and Henze, Bernd and Wolf, Sebastian and Chalon, Maxime and Friedl, Werner and Beyer, Alexander and Eiberger, Oliver and Albu-Schäffer, Alin (2015) From torque-controlled to intrinsically compliant humanoid robots. Dynamic Systems & Control, 3 (2), pp. 7-11. doi: 10.1115/1.2015-jun-5. Volltext nicht online.

  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. file

  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.

  Ott, Christian and Roa Garzon, Máximo Alejandro and Schmidt, Florian and Friedl, Werner and Englsberger, Johannes and Burger, Robert and Werner, Alexander and Dietrich, Alexander and Leidner, Daniel and Henze, Bernd and Eiberger, Oliver and Beyer, Alexander and Bäuml, Berthold and Borst, Christoph and Albu-Schäffer, Alin (2017) Mechanisms and Design of DLR Humanoid Robots. In: Humanoid Robotics: A Reference Living reference work. Springer Science + Business Media. pp. 1-26. doi: 10.1007/978-94-007-7194-9_132-1. ISBN 978-94-007-7194-9. Volltext nicht online.

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

  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. file

  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. file

  Panzirsch, Michael and Balachandran, Ribin and Artigas, Jordi and Riecke, Cornelia and Ferre, Manuel and Albu-Schäffer, Alin (2017) Haptic Intention Augmentation for Cooperative Teleoperation. In: 2017 IEEE International Conference on Robotics and Automation, ICRA 2017. International Conference on Robotics and Automation, 2017-05-29 - 2017-06-03, Singapur, Singapur. doi: 10.1109/ICRA.2017.7989627. ISBN 978-150904633-1. ISSN 1050-4729. Volltext nicht frei. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

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

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

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

  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. file

  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. file

  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. file

  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. filefile

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. filefile

  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. file

  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. file

  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. filefile

  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. file

  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. file

  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. filefile

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  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. file

  Singh, Harsimran and Jafari, Aghil and Peer, Angelika and Ryu, Jee-Hwan (2018) Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, pp. 4972-4979. IEEE. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018-03-01 - 2018-03-05, Madrid, Spain. doi: 10.1109/iros.2018.8593866. ISBN 978-153868094-0. ISSN 2153-0858. Volltext nicht frei. file

  Singh, Harsimran and Jafari, Aghil and Ryu, Jee-Hwan (2019) Enhancing the Force Transparency of Time Domain Passivity Approach: Observer-Based Gradient Controller. In: 2019 International Conference on Robotics and Automation, ICRA 2019, pp. 1583-1589. IEEE. 2019 International Conference on Robotics and Automation (ICRA), 2019-05-20 - 2019-05-24, Montreal, Canada. doi: 10.1109/ICRA.2019.8793902. ISBN 978-153866026-3. ISSN 10504729. Volltext nicht frei. file

  Singh, Harsimran and Janetzko, Dominik and Jafari, Aghil and Weber, Bernhard and Lee, Chan-Il and Ryu, Jee-Hwan (2019) Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach. IEEE Transactions on Industrial Electronics, 67 (1), pp. 809-819. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TIE.2019.2918500. ISSN 0278-0046. file

  Singh, Harsimran and Panzirsch, Michael and Coelho, Andre and Ott, Christian (2020) Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance. IEEE Robotics and Automation Letters, 5 (4), pp. 6599-6606. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.3013860. ISSN 2377-3766. Volltext nicht frei. file

  Singh, Harsimran and Panzirsch, Michael and Ryu, Jee-Hwan (2019) Preserving the Physical Coupling in Teleoperation despite Time Delay through Observer-Based Gradient Control. In: IFAC Proceedings Volumes (IFAC-PapersOnline). Joint IFAC Conference 7th IFAC Symposium on Systems Structure and Control (SSSC) and 15th IFAC Workshop on Time Delay Systems, 2019-09-09 - 2019-09-11, Sinaia, Romania. doi: 10.1016/j.ifacol.2019.12.201. Volltext nicht frei. file

  Singh, Harsimran and Suthar, Bhivraj and Mehdi, Syed Zain and Ryu, Jee-Hwan (2018) Ferro-fluid based portable fingertip haptic display and its preliminary experimental evaluation. In: IEEE Haptics Symposium, HAPTICS, pp. 14-19. IEEE. IEEE Haptics Symposium (HAPTICS), 2018-03-25 - 2018-03-28, San Francisco, CA, USA. doi: 10.1109/HAPTICS.2018.8357146. ISBN 978-1-5386-5424-8. ISSN 2324-7355. Volltext nicht online.

  Standfest, Bastian (2016) Analysis of Cartesian Force Sensitivity for Joint Torque Controlled Robots. DLR-Interner Bericht. DLR-IB-RM-OP-2016-184. Master's. Management Center Innsbruck. 100 S. Volltext nicht frei. file

  Steinbach, Eckehard and Li, Shu-Chen and Gülecyüz, Basak and Hassen, Rania and Hulin, Thomas and Johannsmeier, Lars and Muschter, Evelyn and Noll, Andreas and Panzirsch, Michael and Singh, Harsimran and Xu, Xiao (2021) Haptic codecs for the Tactile Internet. In: Tactile Internet with Human-in-the-Loop Academic Press. pp. 103-129. doi: 10.1016/B978-0-12-821343-8.00016-2. ISBN 978-0-12-821343-8. Volltext nicht online.

  Stella, Francesco and Della Santina, Cosimo and Hughes, Josie (2023) How can LLMs transform the robotic design process? Nature Machine Intelligence, 5 (6), pp. 561-564. Springer Nature. doi: 10.1038/s42256-023-00669-7. ISSN 2522-5839. Volltext nicht online.

  Stella, Francesco and Guan, Qinghua and Della Santina, Cosimo and Hughes, Josie (2023) Piecewise Affine Curvature model: a Reduced-Order Model for Soft Robot-Environment Interaction Beyond PCC. In: 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023, pp. 1-7. IEEE. 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023-04-03 - 2023-04-07, Singapore, Singapore. doi: 10.1109/RoboSoft55895.2023.10121939. ISBN 979-835033222-3. ISSN 2769-4526. Volltext nicht online.

  Stella, Francesco and Hughes, Josie and Rus, Daniela and Della Santina, Cosimo (2023) Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness. Soft Robotics, 10 (4), pp. 701-712. Mary Ann Liebert. doi: 10.1089/soro.2022.0025. ISSN 2169-5172. Volltext nicht online.

  Stölzle, Maximilian and Chin, Lillian and Truby, Ryan L. and Rus, Daniela and Della Santina, Cosimo (2023) Modelling Handed Shearing Auxetics: Selective Piecewise Constant Strain Kinematics and Dynamic Simulation. In: 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023, pp. 1-8. 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023-04-03 - 2023-04-07, Singapore, Singapore. doi: 10.1109/RoboSoft55895.2023.10121989. ISBN 979-835033222-3. ISSN 2769-4526. Volltext nicht online.

  Stölzle, Maximilian and Della Santina, Cosimo (2021) Piston-Driven Pneumatically-Actuated Soft Robots: Modeling and Backstepping Control. IEEE Control Systems Letters, 6, pp. 1837-1842. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2021.3134165. ISSN 2475-1456. Volltext nicht online.

  Subburaman, Rajesh and D'Imperio, Mariapaola and Lee, Jinoh and Cannella, Ferdinando (2021) An Analysis on the Modeling Accuracy of Industrial Manipulators with Inherent Joint Elasticity. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, pp. 8223-8230. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021-09-27 - 2021-10-01, Prague, Czech Republic, Online. doi: 10.1109/IROS51168.2021.9636291. ISBN 978-166541714-3. ISSN 2153-0858. filefile

  Subburaman, Rajesh and Kanoulas, Dimitrios and Tsagarakis, Nikos and Lee, Jinoh (2023) A survey on control of humanoid fall over. Robotics and Autonomous Systems, 166, p. 104443. Elsevier. doi: 10.1016/j.robot.2023.104443. ISSN 0921-8890. Volltext nicht frei. filefile

  Telaar, Juergen and Ahrns, Ingo and Estable, Stephane and Rackl, Wolfgang and De Stefano, Marco and Lampariello, Roberto and Santos, Nuno and Serra, Pedro and Canetri, Marco and Ankersen, Finn and Gil-Fernandez, Jesus (2017) GNC Architecture for the e.Deorbit Mission. 7th European Conference for Aeronautics and Space Sciences (EUCASS), 2017-07-03 - 2017-07-06, Milan, Italy. Volltext nicht online.

  Telaar, Juergen and Estable, Stephane and De Stefano, Marco and Rackl, Wolfgang and Lampariello, Roberto and Ankersen, Finn and Gil-Fernandez, Jesus (2017) Coupled Control of Chaser Platform and Robot Arm for the e.Deorbit Mission. GNC 2017: 10th International ESA Conference on Guidance, Natigation & Control Systems, 2017-05-29 - 2017-06-02, Salzburg, Austria. Volltext nicht online.

  Thoma, Tobias and Wu, Xuwei and Dietrich, Alexander and Kotyczka, Paul (2021) Symplectic Discrete-Time Control of Flexible-Joint Robots: Experiments with Two Links. 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, 2021-10-13 - 2021-10-15, Berlin, Germany. doi: 10.1016/j.ifacol.2021.11.046. ISSN 2405-8963. Volltext nicht frei. file

  Tomić, Teodor (2014) Evaluation of Acceleration-Based Disturbance Observation for Multicopter Control. In: 13th European Control Conference (ECC 2014), pp. 2937-2944. 13th European Control Conference (ECC), 2014-06-24 - 2014-06-27, Strasbourg, France. doi: 10.1109/ECC.2014.6862237.

  Tomić, Teodor and Haddadin, Sami (2014) A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4197-4204. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014-09-14 - 2014-09-18, Chicago, IL, USA. doi: 10.1109/IROS.2014.6943154. file

  Tomić, Teodor and Haddadin, Sami (2015) Simultaneous Estimation of Aerodynamic and Contact Forces in Flying Robots: Applications to Metric Wind Estimation and Collision Detection. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE/RSJ International Conference on Robotics and Automation (ICRA), 2015-05-26 - 2015-05-30, Seattle, WA, USA. doi: 10.1109/icra.2015.7139937. Volltext nicht frei. file

  Tomić, Teodor and Maier, Moritz and Haddadin, Sami (2014) Learning Quadrotor Maneuvers From Optimal Control and Generalizing in Real-Time. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 1747-1754. 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), 2014-05-31 - 2014-06-07, Hong Kong, China. doi: 10.1109/icra.2014.6907087.

  Tomić, Teodor and Schmid, Korbinian and Lutz, Philipp and Mathers, Andrew and Haddadin, Sami (2016) The Flying Anemometer: Unified Estimation of Wind Velocity from Aerodynamic Power and Wrenches. In: IEEE International Conference on Intelligent Robots and Systems, pp. 1637-1644. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016-10-09 - 2016-10-14, Daejeon, Korea. doi: 10.1109/iros.2016.7759264. file

  Tomy, Abhishek and Razzanelli, Matteo and Di Lauro, Francesco and Rus, Daniela and Della Santina, Cosimo (2022) Estimating the state of epidemics spreading with graph neural networks. Nonlinear Dynamics, 109 (1), pp. 249-263. Springer. doi: 10.1007/s11071-021-07160-1. ISSN 0924-090X. file

  Trumic, Maja and Della Santina, Cosimo and Jovanovic, Kosta and Fagiolini, Adriano (2020) Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching. IEEE Control Systems Letters, 5 (6), pp. 1934-1939. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2020.3047737. ISSN 2475-1456. Volltext nicht online.

  Trumic, Maja and Della Santina, Cosimo and Jovanovic, Kosta and Fagiolini, Adriano (2022) On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control. IEEE Control Systems Letters, 7, pp. 385-390. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2022.3187612. ISSN 2475-1456. file

  Ulamec, Stephan and Michel, Patrick and Grott, Matthias and Böttger, Ute and Hübers, Heinz-Wilhelm and Murdoch, Naomi and Vernazza, Pierre and Özgür, Kaaekn and Knollenberg, Jörg and Willner, Konrad and Grebenstein, Markus and Mary, Stéphane and Chazalnoel, Pascale and Biele, Jens and Krause, Christian and Ho, Tra-Mi and Lange, Caroline and Grundmann, Jan Thimo and Sasaki, Kaname and Maibaum, Michael and Küchemann, Oliver and Reill, Josef and Chalon, Maxime and Barthelmes, Stefan and Lichtenheldt, Roy and Krenn, Rainer and Smisek, Michal and Bertrand, Jean and Moussi, Aurelie and Delmas, Cedric and Tardivel, Simon and Arrat, Denis and IJpelaan, Frans and Melac, Laurence and Lorda, Laurence and Remetean, Emile and Lange, Michael and Mierheim, Olaf and Reershemius, Siebo and Usui, Tomohiro and Matsuoko, Moe and Nakamura, Tomoki and Wada, Koji and Miyamoto, Hirdy and Kuramoto, Kiyoshi and LeMaitre, Julia and Mas, Guillaume and Delpech, Michel and Celine, Loisel and Rafflegeau, Arthur and Boirad, Honorine and Schmisser, Roseline and Virmontois, Cedric and Cenac-Morthe, Céline and Besson, Arthus and Rull, Fernando (2019) A rover for the JAXA MMX Mission to Phobos. In: 70th International Astronautical Congress, IAC 2019, IAC-19. International Astronautical Federation. IAC 2019, 2019-10-19 - 2019-10-25, Washington D. C. USA. file

  Unterauer, Christoph (2022) Enhancing DCM-based Walking Using a Generalized eCMP Adaption for Compensating Modelling and Measurement Errors. Master's, Technische Universität München. Volltext nicht frei. file

  Vicari, Andrea and Obayashi, Nana and Stella, Francesco and Raynaud, Gaetan and Mulleners, Karen and Della Santina, Cosimo and Hughes, Josie (2023) Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization. In: 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023, pp. 1-6. IEEE. 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023-04-03 - 2023-04-07, Singapore, Singapore. doi: 10.1109/RoboSoft55895.2023.10121999. ISBN 979-835033222-3. ISSN 2769-4526. Volltext nicht online.

  Vijayan, Ria and De Stefano, Marco and Ott, Christian (2022) A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase. In: 39th IEEE International Conference on Robotics and Automation, ICRA 2022. IEEE. International Conference on Robotics and Automation (ICRA), 2022-05-23 - 2022-05-27, Philadelphia, USA. doi: 10.1109/ICRA46639.2022.9812067. ISBN 978-172819681-7. ISSN 1050-4729. file

  Vijayan, Ria and De Stefano, Marco and Ott, Christian (2022) Control of an Orbital Manipulator with Reaction Wheels for On-orbit Servicing. In: 13th IFAC Symposium on Robot Control (SYROCO). IFAC. 13th IFAC Symposium on Robot Control (SyROCO), 2022-10-17 - 2022-10-20, Virtual Conference. doi: 10.1016/j.ifacol.2023.01.129. ISSN 2405-8963. file

  Vogel, Jörn and Leidner, Daniel and Hagengruber, Annette and Panzirsch, Michael and Bäuml, Berthold and Denninger, Maximilian and Hillenbrand, Ulrich and Suchenwirth, Lioba and Schmaus, Peter and Sewtz, Marco and Bauer, Adrian and Hulin, Thomas and Iskandar, Maged and Quere, Gabriel and Albu-Schäffer, Alin and Dietrich, Alexander (2020) An Ecosystem for Heterogeneous Robotic Assistants in Caregiving. IEEE Robotics & Automation Magazine, 28 (3), pp. 12-28. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MRA.2020.3032142. ISSN 1070-9932. file

  Wagner, Markus (2021) Applying the Divergent Component of Motion Method for Quadrupedal Locomotion to a Robot with Series Elastics Actuators. Master's, DLR-RM. file

  Wandinger, David (2020) Enhancing Classical Impedance Control Concepts while Ensuring Transferability to Flexible Joint Robots. DLR-Interner Bericht. DLR-IB-RM-OP-2020-192. Bachelor's. Hochschule München. file

  Wandinger, David (2023) Tele Running - Energy Efficient Locomotion for Elastic Joint Robots by Imitation Learning. DLR-Interner Bericht. DLR-IB-RM-OP-2023-70. Bachelor's. University of Applied Sciences Munich. file

  Wang, Shengzhi (2021) Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control. Master's, Technical University of Munich. Volltext nicht frei. file

  Wang, Shengzhi and Mesesan, George-Adrian and Englsberger, Johannes and Lee, Dongheui and Ott, Christian (2021) Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control. In: 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020. 2020 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020, 2021-07-19 - 2021-07-21, Munich, Germany. doi: 10.1109/HUMANOIDS47582.2021.9555676. ISBN 978-172819372-4. ISSN 2164-0572. file

  Wang, Yongchao and Leibold, Marion and Lee, Jinoh and Ye, Wenyan and Xie, Jing and Buss, Martin (2022) Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator. IEEE Transactions on Control Systems Technology, 30 (6), pp. 2285-2300. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TCST.2022.3142629. ISSN 1063-6536. file

  Wang, Yongchao and Liu, Yang and Leibold, Marion and Buss, Martin and Lee, Jinoh (2024) Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach. IEEE Transactions on Robotics, 40, pp. 2128-2148. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2024.3370049. ISSN 1552-3098. file

  Welter, Tjark Jonas (2023) Development of a Multisensory Saddle as Input Device for Teleoperation. Bachelor's, Jade University of Applied Sciences. file

  Werner, Alexander (2012) Optimization-based generation of optimal walking trajectories for biped robots. DLR-Interner Bericht. DLR-IB-RM-OP-2012-1. Diploma. Universität Erlangen-Nürnberg. Volltext nicht frei. file

  Werner, Alexander and Henze, Bernd and Keppler, Manuel and Loeffl, Florian Christoph and Leyendecker, Sigrid and Ott, Christian (2018) Structure Preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, pp. 1233-1240. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/iros.2018.8593596. ISBN 978-153868094-0. ISSN 2153-0858. file

  Werner, Alexander and Henze, Bernd and Loeffl, Florian Christoph and Leyendecker, Sigrid and Ott, Christian (2017) Optimal and Robust Walking using Intrinsic Properties of a Series-Elastic Robot. In: IEEE-RAS International Conference on Humanoid Robots. 2017 IEEE-RAS International Conference on Humanoid Robots, 2017-11-15 - 2017-11-17, Birmingham. doi: 10.1109/HUMANOIDS.2017.8239549. file

  Werner, Alexander and Lampariello, Roberto and Ott, Christian (2014) Trajectory Optimization for Walking Robots with Series Elastic Actuators. In: IEEE Conference on Decision and Control (ISSN: 0733-8716). 53rd IEEE Conference on Decision and Control, 2014-12-15 - 2014-12-17, Los Angeles, California, USA. doi: 10.1109/CDC.2014.7039845. ISSN 0733-8716. file

  Werner, Alexander and Trautmann, Dietrich and Lee, Dongheui and Lampariello, Roberto (2015) Generalization of Optimal Motion Trajectories for Bipedal Walking. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015-09-28 - 2015-10-02, Hamburg, Germany. doi: 10.1109/iros.2015.7353577. file

  Werner, Alexander and Turlej, Wojciech and Ott, Christian (2017) Generation of Locomotion Trajectories for Series Elastic and Viscoelastic Bipedal Robots. In: IEEE International Conference on Intelligent Robots and Systems. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017-09-24 - 2017-09-28, Vancouver, Canada. doi: 10.1109/iros.2017.8206476. file

  Wimböck, Thomas (2013) Controllers for Compliant Two-Handed Dexterous Manipulation. DLR-Interner Bericht. 572-2013/30. Dissertation. 252 S. Volltext nicht frei. file

  Wlach, Sven and Balmer, Georg Robert and Hermann, Milan and Wüsthoff, Tilo (2017) ELAHA - ELASTIC AIRCRAFT FOR HIGH ALTITUDES. 23rd ESA Symposium on European Rocket and Balloon Programmes and Related Research (ESA PAC), 2017-06-11 - 2017-06-15, Visby, Sweden. file

  Wu, Xuwei (2016) Passivation of a Hierarchical Whole-Body Controller for Humanoid Robots. DLR-Interner Bericht. DLR-IB-RM-OP-2016-245. Master's. Technische Universität München. 67 S. Volltext nicht frei. file

  Wu, Xuwei and Albu-Schäffer, Alin Olimpiu and Dietrich, Alexander (2024) Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions. In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. IEEE. 2024 IEEE International Conference on Robotics and Automation, 2024-05-13 - 2024-05-17, Yokohama, Japan. doi: 10.1109/ICRA57147.2024.10610961. ISBN 979-835038457-4. ISSN 1050-4729. file

  Wu, Xuwei and Kirner, Annika and Garofalo, Gianluca and Ott, Christian and Kotyczka, Paul and Dietrich, Alexander (2022) Adaptive Tracking Control with Uncertainty-aware and State-dependent Feedback Action Blending for Robot Manipulators. IEEE Robotics and Automation Letters, 7 (4), pp. 12307-12314. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3212669. ISSN 2377-3766. file

  Wu, Xuwei and Ott, Christian and Albu-Schäffer, Alin and Dietrich, Alexander (2023) Passive Decoupled Multitask Controller for Redundant Robots. IEEE Transactions on Control Systems Technology, 31 (1), pp. 1-16. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TCST.2022.3162990. ISSN 1063-6536. file

  Wu, Xuwei and Ott, Christian and Dietrich, Alexander (2022) A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot. In: 2022 American Control Conference, ACC 2022. 2022 American Control Conference, 2022-06-08 - 2022-06-10, Atlanta, USA. doi: 10.23919/ACC53348.2022.9867784. ISBN 978-166545196-3. ISSN 0743-1619. file

  Xu, Xiao and Panzirsch, Michael and Liu, Quian and Steinbach, Eckehard (2020) Integrating Haptic Data Reduction with Energy Reflection-Based Passivity Control for Time-delayed Teleoperation. In: 26th IEEE Haptics Symposium, HAPTICS 2020. IEEE Haptics Symposium (HAPTICS), 2020-03-28 - 2020-03-31, Washington DC, USA. doi: 10.1109/HAPTICS45997.2020.ras.HAP20.2.4ff61dc8. ISBN 978-172810234-4. ISSN 2324-7347. Volltext nicht frei. file

  Xu, Xiao and Singh, Harsimran and Liu, Qian and Panzirsch, Michael and Hulin, Thomas and Steinbach, Eckehard (2021) A Novel Energy Compensation Scheme for Quality Enhancement in Time-delayed Teleoperation with Multi-DoF Haptic Data Reduction and Communication. IEEE Transactions on Haptics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TOH.2021.3103379. ISSN 1939-1412. Volltext nicht frei. file

  Yang, Yushan and Ma, MingYu and Van Doan, Tung and Hulin, Thomas and Fitzek, Frank H. P. and Nguyen, Giang T. (2024) Touch the Metaverse: Demonstration of Haptic Feedback in Network-Assisted Augmented Reality. In: 2024 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events, PerCom Workshops 2024. International Conference on Pervasive Computing and Communications (PerCom), 2024-03-11 - 2024-03-15, Biarritz, France. doi: 10.1109/PerComWorkshops59983.2024.10503143. ISBN 979-835030436-7. ISSN 2766-8576. file

  Youssef, Michel and Ott, Christian and Lee, Dongheui (2022) Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators. IEEE Transactions on Robotics, 38 (6), pp. 3899-3916. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2022.3174478. ISSN 1552-3098. Volltext nicht online.

  Yun, Wonbum and Lee, Jinoh and Oh, Sehoon (2022) Analysis of task decoupling characteristics of null space projector with uncertainty from modelling error. In: 2022 IEEE/SICE International Symposium on System Integration, SII 2022, pp. 963-964. 2022 IEEE/SICE International Symposium on System Integration (SII 2022), 2022-01-09 - 2022-01-12, Narvik, Norway. doi: 10.1109/SII52469.2022.9708792. ISBN 978-166544540-5. ISSN 2474-2317. Volltext nicht frei. filefile

  Zambella, Grazia and Schuller, Robert and Mesesan, George-Adrian and Bicchi, Antonio and Ott, Christian and Lee, Jinoh (2023) Agile and Dynamic Standing-up Control for Humanoids using 3D Divergent Component of Motion in Multi-contact Scenario. IEEE Robotics and Automation Letters, 8 (9), pp. 5624-5631. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3297060. ISSN 2377-3766. file

  Zheng, Tian and Li, Hengrui and Wang, Yongchao and Xie, Jing and Leibold, Marion and Lee, Jinoh (2023) Towards Robustification of Incremental Model Predictive Control Deploying an Adaptive Tube Technique. In: 56th International Symposium on Robotics, ISR Europe 2023. the 56th International Symposium on Robotics (ISR Europe 2023), 2023-09-26 - 2023-09-27, Stuttgart, Germany. ISBN 978-380076141-8. Volltext nicht online.

  chalon, maxime and reinecke, jens and pfanne, martin (2013) Online in-hand object localization. In: IEEE RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems, 2013-11-03 - 2013-11-07, Tokyo, Japan. doi: 10.1109/iros.2013.6696778. file

  Özparpucu, Mehmet Can (2018) Optimal Control Strategies for Maximizing the Link Velocity of Elastic Joints with Nonlinear Impedance. Dissertation. file

  Özparpucu, Mehmet Can and Alin, Albu-Schäffer (2014) Optimal Control Strategies for Maximizing the Performance of Variable Stiffness Joints with Nonlinear Springs. In: IEEE Conference on Decision and Control (ISSN: 0733-8716). 53rd IEEE Conference on Decision and Control (CDC 2014), 2014-12-15 - 2014-12-17, Los Angeles, California, USA. doi: 10.1109/CDC.2014.7039599. ISSN 0733-8716. Volltext nicht frei. file

  Özparpucu, Mehmet Can and Haddadin, Sami (2013) Optimal control for maximizing link velocity of visco-elastic joints. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013-11-03 - 2013-11-07, Tokyo, Japan. doi: 10.1109/IROS.2013.6696786. Volltext nicht online.

  Özparpucu, Mehmet Can and Haddadin, Sami (2014) Optimal control of elastic joints with variable damping. In: Control Conference (ECC), 2014 European. Control Conference (ECC), 2014 European, 2014-06-24 - 2014-06-27, Straßburg, Frankreich. doi: 10.1109/ECC.2014.6862266. Volltext nicht frei. file

  Özparpucu, Mehmet Can and Haddadin, Sami and Alin, Albu-Schäffer (2014) Optimal Control of Variable Stiffness Actuators with Nonlinear Springs. In: 19th IFAC World Congress, pp. 8487-8495. IFAC 2014 (The 19th World Congress of the International Federation of Automatic Control), 2014-08-24 - 2014-08-29, Cape Town, South Africa. doi: 10.3182/20140824-6-ZA-1003.01193. Volltext nicht frei. file

This list was generated on Fri Sep 27 20:30:06 2024 CEST.
Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.