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

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Number of items at this level: 250.

A

  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. 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: IEEE International Conference on Intelligent Robots and Systems, pp. 5010-5017. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain. Volltext nicht online.

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

  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. 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, 5-12 Mar 2016, 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), 26-30 May 2015, Seattle, Washington, USA. 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, Stockholm, Sweden. 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, Saint Petersburg, Russia. file

B

  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, Daejeon, Korea. 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: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation ICRA, Singapore. file

  Balmer, Georg Robert (2015) Modelling and Control of a Fixed-wing UAV for Landings on Mobile Landing Platforms. Master's. DLR-Interner Bericht. DLR-IB 572-2015/35, 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 International Conference on Unmanned Aircraft Systems (ICUAS), 12.-15. Juni 2018, Dallas, TX, USA. Volltext nicht frei. 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. Bachelor's. DLR-Interner Bericht. DLR-IB-RM-OP-2016-328. Volltext nicht frei. file

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 DLR-IB-RM-OP-2017-270, 102 S. (Unpublished) Volltext nicht frei.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

  Beck, Fabian and Garofalo, Gianluca and Ott, Christian (2019) Vibration Control for Manipulators on a Translationally Flexible Base. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA), 20-24 May 2019, Montreal, Canada. Volltext nicht frei. file

  Bernauer, Hannah (2018) Two-Armed Object-Level Impedance Control of Humanoid Robots: Design, Validation and Comparison. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2018-66, 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, 27.-27. May 2019, Noordwijk, Netherlands. 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: IEEE International Conference on Robotics and Automation ICRA, pp. 910-917. 2018 IEEE International Conference on Robotics and Automation (ICRA), 21.-25. Mai, Brisbane, Australien. DOI: 10.1109/ICRA.2018.8460533 ISBN 978-1-5386-3080-8 ISSN 2577-087X file

C

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

  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 (2005) 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, 24-29 Aug. 2014, 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, Aug 24-27, 2015, Portsmouth, UK. 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), May 26-30, 2015, Seattle, Washington, USA. 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. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2016-327, 108 S. file

  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, 3-7 November 2013, Tokyo, Japan. file

D

  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), 24 Sep. 2017, 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), 11-13 May 2015, 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), 26-30 May 2015, Seattle, Washington, USA. 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), 9-14 October 2016, 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. IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS), 24-28 Sep. 2017, Vancouver, BC, Canada. ISSN 978-5386-2681-8/17 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: IEEE International Conference on Robotics and Automation ICRA, pp. 5899-5906. IEEE International Conference on Robotics and Automation (ICRA), 2017, 29 May - 03 June 2017, Singapore. ISBN 978-1-5090-4632-4/17/ 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: IEEE International Conference on Robotics and Automation ICRA. 2018 IEEE International Conference on Robotics and Automation (ICRA), 21-25 May 2018, Brisbane, QLD, Australia. 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

  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), 12-15 Dec. 2017, 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 ISBN 2405-8963 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, 10-12 July 2014, 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. 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 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 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, 28 Sept - 02 Oct 2015, 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. ISBN 978-3-319-61275-1. ISSN 2211-0984 Volltext nicht frei. file

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

  Dietrich, Alexander (2016) Whole-Body Impedance Control of Wheeled Humanoid Robots. Springer Tracts in Advanced Robotics, 116. Springer International Publishing. 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 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, 31. Mai - 07. Juni 2014, Hong Kong, China. 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, 03.-08. November 2013, Tokyo, Japan. 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 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

  Djellab, Badis (2015) Minimizing the effective robot mass in human-robot collisions by exploiting redundancy. Master's. DLR-Interner Bericht. 572-2015/23, 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, 10.-13. Jun. 2014, Zürich, Schweiz. file

E

  Englsberger, Johannes (2016) Combining reduced dynamics models and whole-body control for agile humanoid locomotion. Dissertation. Volltext nicht frei. 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, Chicago, USA. 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, Hamburg, Deutschland. 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, 21.-24. Jul. 2015, 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, 3.-5. Nov. 2015, Seoul, Korea. 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 Mesesan, George and Werner, Alexander and Ott, Christian (2018) Torque-based dynamic walking - A long way from simulation to experiment. In: IEEE International Conference on Robotics and Automation ICRA. International Conference on Robotics and Automation (ICRA) 2018, Brisbane, Australien. 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), 07.-08. Okt. 2013, 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, Tokyo, Japan. 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. 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, Madrid, Spanien. file

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

F

  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, 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. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2017-229. file

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

  Fischer, Florian Christoph (2016) Development of Servo-Units for a Compliantly Actuated Quadruped Prototype. Master's. DLR-Interner Bericht. IB-RM-OP-2016-80, 107 S. (Unpublished) 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), September 14-18, 2014, Chicago, USA. 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. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2018-78, 102 S. Volltext nicht frei. file

G

  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, 2-9 Mar 2019, Yellowstone Conference Center, Big Sky, Montana,. Volltext nicht online.

  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. 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019), Vienna, Austria. file

  Garofalo, Gianluca and Beck, Fabian and Ott, Christian (2018) Task-space Tracking Control for Underactuated Aerial Manipulators. European Control Conference 2018, Limassol, Cyprus. 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, Chicago, USA. 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: 8th Vienna International Conference on Mathematical Modelling (MATHMOD), pp. 322-327. 8th Vienna International Conference on Mathematical Modelling (2015), Vienna, Austria. 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: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada. 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, 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: Human Friendly Robotics 10th International Workshop file

  Garofalo, Gianluca and Ott, Christian (2018) Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control. 12th International IFAC Symposium on Robot Control, Budapest, Hungary. 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, 07-08 Oct 2013, 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, 17-19 Jun 2013, Washington DC, USA. 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. ISSN 2475-145 file

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

  Giordano, Alessandro Massimo and Davide, Calzolari and Alin, Albu-Schäffer (2018) Workspace fixation for free-floating space robot operations. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA), 21-25 May 2018, Brisbane. 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, 12-15 Dec 2017, 2017 IEEE 56th Conference on Decision and Control (CDC). file

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

  González Camarero, Ricardo (2014) Dynamic Simulation and Control of Exoskeletal Devices for an Astronaut’s Hand and Leg. Master's. DLR-Interner Bericht. DLR-IB 572-2014/17, 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, Madrid, Spain. file

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

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

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  Henze, Bernd (2019) Hierarchical Whole-Body Control for Humanoid Robots. In: IEEE International Conference on Robotics and Automation ICRA. ICRA 2019 Workshop on Continuous Management and Scheduling of multiple simultaneous prioritized Tasks for redundant Robots, Montreal, Canada. Volltext nicht online.

  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. 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 Volltext nicht online.

  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. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada. Volltext nicht online.

  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, 14.-18. September 2014, 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: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation, Montreal. Volltext nicht online.

  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), 18. - 20. Nov. 2014, Madrid, Spain. 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), Hong Kong. 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), 26.-30. Mai 2015, Seattle. 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. Volltext nicht frei. 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, Madrid, Spain. file

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  Iskandar, Maged and Wolf, Sebastian (2019) Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation. In: IEEE International Conference on Robotics and Automation ICRA, pp. 7367-7373. IEEE International Conference on Robotics and Automation ICRA, 20-24 May, 2019, Montreal, Canada. file

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  Jiskra, Patrick (2016) Contact Modeling and Experimental Validation for Start and Landing of VTOL UAVs. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2016-262. 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. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Vancouver, Canada. Volltext nicht frei. file

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

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  Kajita, Shuuji and Ott, Christian (2016) Limbed Systems. In: Handbook of Robotics Springer. pp. 419-442. 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, Japan. Volltext nicht online.

  Keppler, Manuel (2014) System Identification, Design and Flight Testing H∞ Controllers for Heave Dynamics of RUAV. Diploma. DLR-Interner Bericht. 572-2014/27, 126 S. 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, 16-21 MAy 2016, Stockholm, Sweden. 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, 12.-15. Dez. 2016, 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. ISSN 1552-3098 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. ECC 2018, 12 - 15 Jun 2018, Limassol, Cyprus. file

  Kim, MinJun and Balachandran, Ribin and De Stefano, Marco and Kondak, Konstantin and Ott, Christian (2018) Passive compliance control of aerial manipulators. In: IEEE International Conference on Intelligent Robots and Systems. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 105 Oct 2018, Madrid, Spain. 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 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 IFAC Symposium on Robot Control (SYROCO). 12th IFAC Symposium on Robot Control, Budapest, Hungary. 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: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA) 2017, 29 May - 3 June2017, Singapore. Volltext nicht online.

  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, Daejeon, Korea. DOI: 10.1109/IROS.2016.7759143 Volltext nicht online.

  Kindsmüller, Tobias (2017) Vertical Wheel Force Control for a Planetary Rover. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2017-83, 70 S. 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, 18.-20. Feb. 2015, Wien. Volltext nicht frei. file

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  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, 12.-15. Aug. 2014, 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, 24.-29. Aug. 2014, 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, 15.-17. Nov. 2016, Cancun, Mexiko. 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: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation ICRA, Montreal, Canada. 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, 31. Mai - 7. Jun. 2014, Hong Kong, China. 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, Madrid, Spanien. 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, 28. Sept. - 02. Okt. 2015, Hamburg, Deutschland. 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, 01.-02. Dez. 2017, 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, 13. Dec. - 17. Dec. 2014, Los Angeles, USA. 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, Jongseok (2017) High Fidelity Modelling for High Altitude Long Endurance Solar Powered Aircraft. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2017-115, 84 S. 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), Vancouver, Canada. Volltext nicht online.

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

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

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  Maier, Moritz (2018) Bidirectional Thrust for Multirotor MAVs with Fixed-Pitch Propellers. In: IEEE International Conference on Intelligent Robots and Systems, pp. 5727-5734. IEEE/RSJ. IEEE/RSJ International Conference on Intelligent Robots and Systems, 1-5 Oct 2018, Madrid, Spain. Volltext nicht frei. file

  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), 15-18 Dec 2015, Osaka, Japan. 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, 27-30 Aug 2017, Hawai'i, USA. 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, 24–28 Sept 2017, Vancouver, Canada. 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), 16-21 May 2016, 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, Vancouver, Kanada. 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, Vancouver, Kanada. Volltext nicht frei. file

  Mansfeld, Nico and Haddadin, Sami (2014) Braking elastic joint robots in near-minimum time. International Workshop on Human-Friendly Robotics, 23.-24. Oktober 2014, 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), 14.-18. Sept. 2014, 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, 25.-26. Sept. 2013, 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, 26.-30. Mai 205, Seattle, USA. 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 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, 06.-08. Jun. 2016, Boston MA, USA. Volltext nicht frei. file

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

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

  Mesesan, George (2016) Dynamic Multi-contact Transitions for Humanoid Robots. Diploma. DLR-Interner Bericht. DLR-IB-RM-OP-2016-209. 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: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA) 2017, 29 May - 03 Jun 2017, Singapore. file

  Meyer, Lukas (2017) Pose Estimation and Traction Control for a Planetary Exploration Rover. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2017-140, 77 S. (Unpublished) file

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

  Mishra, Hrishik and De Stefano, Marco and Giordano, Alessandro Massimo and Ott, Christian (2018) Tracking Controller for Moving Targets in Robotic Systems: A Vector Lyapunov Approach. In: IFAC Proceedings Volumes (IFAC-PapersOnline), 51 (22), pp. 471-478. ScienceDirect. 12th IFAC Symposium on Robot Control SYROCO, 27-30 Aug 2018, Budapest, Hungary. DOI: 10.1016/j.ifacol.2018.11.589. ISSN 2405-8963 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. Volltext nicht frei. 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). The 2016 International Conference on Unmanned Aircraft Systems, 07.-10. Jun 2016, Arlington, VA, USA. 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. 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, 16.-21. Mai 2016, Stockholm, Schweden. Volltext nicht frei. file

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  Oeschger, André (2015) Nichtlineare Modellierung und lineare Regelung eines neuartigen robotischen Landesystems für Drehflügler-UAVs. Diploma. DLR-Interner Bericht. DLR-IB 572-2015/25, 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, Madrid, Spanien. Volltext nicht online.

  Ott, Christian (2014) Towards bipedal locomotion using energy based limit cycle control. In: Dynamic Walking 2014. Dynamic Walking 2014, 10.-13. Juni 2014, 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), 12.-14. Mai 2014, 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), 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, Madrid, Spanien. Volltext nicht online.

  Ott, Christian (2014) Development and Control of Compliant Humanoid Robots at DLR. Half Day Workshop at Humanoids 2014, 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), 27.-28. Oktober 2014, München, Deutschland. Volltext nicht online.

  Ott, Christian (2014) Compliant Humanoid Robots Developed at DLR. LIRMM HRP-4 Inaugural Workshop, 6.3.-7.3. 2014, 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, 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. IEEE/RSJ nternational Conference of Intelligent Robots and Systems, Madrid, Spanien. 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. 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), 12.-15. November 2014, 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, 3.-8. Nov. 2013, Tokyo/Japan. Volltext nicht online.

  Ott, Christian and Hyon, Sang-Ho (2017) Torque-based balancing. In: Humanoid Robotics: A Reference Springer Science + Business Media. 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 Springer Science + Business Media. Volltext nicht online.

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  Panzirsch, Michael and Artigas Esclusa, Jordi and Ferre, Manuel (2016) A modular passivity framework for multilateral teleoperation applications. RoboCity 16, 26.-27. Mai 2016, Madrid, Spanien. 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: IEEE International Conference on Robotics and Automation ICRA. International Conference on Robotics and Automation, 29. May - 03. Jun. 2017, Singapur, Singapur. 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: Lecture Notes in Computer Science. Springer Berlin Heidelberg. EuroHaptics 2016, 4.-7. Juli 2016, London, England. 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), 26th-30th May 2015, Seattle,USA. 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, 26.-29. Juni 2018, 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, 28. Jun. - 01. Jul. 2015, Seoul, Korea. Volltext nicht frei. 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, 6.6.17-9.6.17, Fürstenfeldbruck, Deutschland. Volltext nicht frei. 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. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2016-347, 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), 12.-15. Dez. 2017, Melbourne, Australien. 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), Hong Kong. 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, 11-13 Sep 2013, 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. Bachelor's. DLR-Interner Bericht. DLR-IB 572-2015/04, 60 S. file

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

  Pratt, Jerry and Ott, Christian and Hyon, Sang-Ho (2017) Introduction to Humanoid Balance. In: Humanoid Robotics: A Reference Springer Science + Business Media. Volltext nicht online.

R

  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, 3.-5. Dez. 2014, Melbourne, Australien. file

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

  Raschel, Clara M. (2019) Reactive collision avoidance for highly elastic robot systems: an artificial potential field approach. Bachelor's. DLR-Interner Bericht. DLR-IB-RM-OP-2019-36. Volltext nicht frei. 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, 16.05.2016-21.05.2016, Stockholm, Sweden. DOI: 10.1109/ICRA.2016.7487672 Volltext nicht frei. 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: Wearable Robotics: Challenges and Trends Biosystems & Biorobotics, 22. Springer International Publishing. pp. 344-347. ISBN 978-3-030-01887-0. ISSN 2195-3562 Volltext nicht online.

  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, 3-10 March 2018, Big Sky, MT, USA. Volltext nicht online.

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

S

  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, Cancun, Mexico. 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), 29. Mai - 03. Juni 2017, Singapore. 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: IEEE International Conference on Robotics and Automation ICRA. ICRA 2019, 20-25 May 2019, Montreal, Canada. Volltext nicht frei. 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, Salvador, Brasilien. 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, 18-22 Jun 2016, Michigan, USA. filefile

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

  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 ISBN 2405-8963 ISSN 2405-8963 Volltext nicht frei. file

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

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

T

  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), 03-06 July, 2017, 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, Salzburg, Austria. Volltext nicht online.

  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), 24-27 Jun 2014, Strasbourg, France.

  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), 14-18 Sep 2014, 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), 26-30 May 2015, Seattle, WA, USA. 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), 31 May - 7 June 2014, Hong Kong, China.

  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), 9-14 Oct 2016, Daejeon, Korea. file

W

  Werner, Alexander (2012) Optimization-based generation of optimal walking trajectories for biped robots. Diploma. DLR-Interner Bericht. DLR-IB-RM-OP-2012-1. 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: IEEE International Conference on Intelligent Robots and Systems, pp. 1233-1240. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain. Volltext nicht online.

  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, Birmingham. 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, 15-17 Dec 2014, Los Angeles, California, USA. 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, 28 Sep - 02 Oct 2015, Hamburg, Germany. 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, Vancouver, Canada. file

  Wimböck, Thomas (2013) Controllers for Compliant Two-Handed Dexterous Manipulation. Dissertation. DLR-Interner Bericht. 572-2013/30, 252 S. Shaker Verlag GmbH. 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), 11.-15. Juni 2017, Visby, Sweden. file

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

Ö

  Özparpucu, Mehmet Can (2018) Optimal Control Strategies for Maximizing the Link Velocity of Elastic Joints with Nonlinear Impedance. Dissertation. Volltext nicht frei. 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), Los Angeles, California, USA. 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, Tokyo, Japan. 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, Straßburg, Frankreich. 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), 24.-29. Aug. 2014, Cape Town, South Africa. DOI: 10.3182/20140824-6-ZA-1003.01193 Volltext nicht frei. file

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