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Mitarbeiter

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Christian Ott

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik

CV

2001 Diploma in Mechatronics, Johannes-Keppler-University Linz, Austria
2001-2007 Researcher at DLR
2005 PhD (Dr.-Ing.) in Control Engineering from Saarland University, Germany
2007-2009 Project Assistant Professor at University of Tokyo, Japan
2009-2013 Team Leader on Bipedal Walking at DLR
2011-2016 Head of Helmholtz Young Inverstigator's Research Group (DLR&TUM)

2014-2022

Head of Department "Analysis and Control of Advanced Robotic Systems" at Institute of Robotics and Mechatronics, DLR
since 2022 Univ.-Prof. at TU Wien, Austria

 

 

 

 

 

 

 

 

Fields of Interest

  • Nonlinear Control
  • Flexible Joint Manipulators
  • Impedance Control
  • Kinematic Redundancy
  • Dual Arm Manipulation
  • Robot Dynamics
  • Humanoid Robots
  • Bipedal Walking
  • (physical) Human-Robot Interaction

 

Recent Talks

  • Plenary Talk at IFAC Symposium on Robot Control (SYROCO 2021), October 17-20, 2022.
  • Plenary Talk at 19th International Conference on Ubiquitious Robots (UR2022), July 4-6, 2022.
  • Keynote Talk at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018): "Elastic Actuators: From mastering vibrations towards utilization of intrinsic dynamics"
  • Keynote Talk at the 13th International Conference on Electromechanics and Robotics (Zavalishin's Readings), 2018.
  • Keynote Talk at IEEE International Conference on Robotics and Automation (ICRA 2016): "Similarities in Manipulation and Locomotion", 2016.

Publications (list currently not up to date, sorry)

  • Hüseyin Tugcan Dinc, Thomas Hulin, Christian Ott, Jee-Hwan Ryu:
    Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction
    IEEE Transactions on Haptics, vol. 17 (1). IEEE - Institute of Electrical and Electronics Engineers, 2024. DOI 10.1109/TOH.2024.3359230, ISSN 1939-1412. [elib]
  • Tobias Egle, Johannes Englsberger, Christian Ott:
    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-RAS International Conference on Humanoid Robots 2023, 2023-12-12 - 2023-12-14, Austin, USA, 2024. DOI 10.1109/Humanoids57100.2023.10375152, ISBN 979-835030327-8, ISSN 2164-0572. [elib]
  • Sait Sovukluk, Christian Ott, M. Mert Ankaralı:
    Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations
    In: 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023. 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023-12-12 - 2023-12-14, Austin, TX, USA, 2024. DOI 10.1109/Humanoids57100.2023.10375153, ISBN 979-835030327-8, ISSN 2164-0572. [elib]
  • Sait Sovukluk, Johannes Englsberger, Christian Ott:
    Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics
    IEEE Robotics and Automation Letters, vol. 9 (2). IEEE - Institute of Electrical and Electronics Engineers, 2023. DOI 10.1109/LRA.2023.3342668, ISSN 2377-3766. [elib]
  • Hemjyoti Das, Bjørn Kåre Sæbø, Kristin Y. Pettersen, Christian Ott:
    Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks
    In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023-10-01 - 2023-10-05, Detroit, MI, USA, 2023. DOI 10.1109/IROS55552.2023.10342250, ISBN 978-166549190-7, ISSN 2153-0858. [elib]
  • Sait Sovukluk, Johannes Englsberger, Christian Ott:
    Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study
    In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023-10-01 - 2023-10-05, Detroit, MI, USA, 2023. DOI 10.1109/IROS55552.2023.10341391, ISBN 978-166549190-7, ISSN 2153-0858. [elib]
  • George-Adrian Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion
    IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers, 2023. DOI 10.1109/TRO.2023.3321396, ISSN 1552-3098. [elib]
  • Grazia Zambella, Robert Schuller, George-Adrian Mesesan, Antonio Bicchi, Christian Ott et 1 al.:
    Agile and Dynamic Standing-up Control for Humanoids using 3D Divergent Component of Motion in Multi-contact Scenario
    IEEE Robotics and Automation Letters, vol. 8 (9). IEEE - Institute of Electrical and Electronics Engineers, 2023. DOI 10.1109/LRA.2023.3297060, ISSN 2377-3766. [elib]
  • Marco De Stefano, Ria Vijayan, Andreas Stemmer, Ferdinand Elhardt, Christian Ott:
    A Gravity Compensation Strategy for On-ground Validation of Orbital Manipulators
    In: 2023 IEEE International Conference on Robotics and Automation, ICRA 2023. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023-05-29 - 2023-06-02, London, UK, 2023. DOI 10.1109/ICRA48891.2023.10161480, ISBN 979-835032365-8, ISSN 1050-4729. [elib]
  • Iurii Sarkisov, Andre Coelho, Maihara Gabrieli Santos, Min Jun Kim, Dzmitry Tsetserukou et 2 al.:
    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. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023-05-29 - 2023-06-02, London, UK, 2023. DOI 10.1109/ICRA48891.2023.10160718, ISBN 979-835032365-8, ISSN 1050-4729. [elib]
  • Concepcion Alicia Monje, Bastian Deutschmann, Jorge Munoz, Christian Ott, Carlos Balaguer:
    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, vol. 43 (3). IEEE - Institute of Electrical and Electronics Engineers, 2023. DOI 10.1109/MCS.2023.3253420, ISSN 1066-033X. [elib]
  • Maged Iskandar, Christian Ott, Alin Albu-Schäffer, Bruno Siciliano, Alexander Dietrich:
    Hybrid Force-Impedance Control for Fast End-Effector Motions
    IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers, 2023. DOI 10.1109/LRA.2023.3270036, ISSN 2377-3766. [elib]
  • Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Mishra Hrishik, Davide Bicego et 2 al.:
    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. 2022 IEEE 61st Conference on Decision and Control (CDC), 2022-12-06 - 2022-12-09, Cancún, Mexico, 2023. DOI 10.1109/CDC51059.2022.9992915, ISBN 978-166546761-2, ISSN 0743-1546. [elib]
  • Tobias Egle, Johannes Englsberger, Christian Ott:
    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-RAS International Conference on Humanoid Robots (Humanoids 2022), 2022-11-28 - 2022-11-30, Ginowan City, Okinawa, Japan, 2023. DOI 10.1109/Humanoids53995.2022.10000236, ISBN 979-835030979-9, ISSN 2164-0572. [elib]
  • Konrad Fründ, Anton Leonhard Shu, Florian Christoph Loeffl, Christian Ott:
    A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion
    In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022. 2022 IEEE-RAS International Conference on Humanoid Robots, 2022-11-28 - 2022-11-30, Ginowan, Japan, 2023. DOI 10.1109/Humanoids53995.2022.10000126, ISBN 979-835030979-9, ISSN 2164-0572. [elib]
  • Fabian Beck, Maximilian Rehermann, Johann Reger, Christian Ott:
    Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions
    In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022. IEEE-RAS 21st International Conference on Humanoid Robots, 2022-11-28 - 2022-11-30, Ginowan, Japan, 2023. DOI 10.1109/Humanoids53995.2022.10000146, ISBN 979-835030979-9, ISSN 2164-0572. [elib]
  • Xuwei Wu, Christian Ott, Alin Albu-Schäffer, Alexander Dietrich:
    Passive Decoupled Multitask Controller for Redundant Robots
    IEEE Transactions on Control Systems Technology, vol. 31 (1). IEEE - Institute of Electrical and Electronics Engineers, 2023. DOI 10.1109/TCST.2022.3162990, ISSN 1063-6536. [elib]
  • Ribin Radhakrishna Balachandran, Marco De Stefano, Hrishik Mishra, Christian Ott, Alin Albu-Schäffer:
    Passive arbitration in adaptive shared control of robots with variable force and stiffness scaling
    Mechatronics, vol. 90. Elsevier, 2022. DOI 10.1016/j.mechatronics.2022.102930, ISSN 0957-4158. [elib]
  • Hrishik Mishra, Gianluca Garofalo, Alessandro Massimo Giordano, Marco De Stefano, Christian Ott et 1 al.:
    Reduced Euler-Lagrange Equations of Floating-base Robots: Computation, Properties & Applications
    IEEE Transactions on Robotics, IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers, 2022. DOI 10.1109/TRO.2022.3206716, ISSN 1552-3098. [elib]
  • Xuwei Wu, Annika Kirner, Gianluca Garofalo, Christian Ott, Paul Kotyczka et 1 al.:
    Adaptive Tracking Control with Uncertainty-aware and State-dependent Feedback Action Blending for Robot Manipulators
    IEEE Robotics and Automation Letters, vol. 7 (4). IEEE - Institute of Electrical and Electronics Engineers, 2022. DOI 10.1109/LRA.2022.3212669, ISSN 2377-3766. [elib]
  • Ria Vijayan, Marco De Stefano, Christian Ott:
    Control of an Orbital Manipulator with Reaction Wheels for On-orbit Servicing
    In: 13th IFAC Symposium on Robot Control (SYROCO). 13th IFAC Symposium on Robot Control (SyROCO), 2022-10-17 - 2022-10-20, Virtual Conference, 2022. DOI 10.1016/j.ifacol.2023.01.129, ISSN 2405-8963. [elib]
  • Hrishik Mishra, Marco De Stefano, Christian Ott:
    Dynamics and Control of a Reconfigurable Multi-Arm Robot for In-Orbit Assembly
    IFAC-PapersOnLine, IFAC-PapersOnLine, vol. 55 (20). IFAC Secretariat, 2022. DOI 10.1016/j.ifacol.2022.09.101, ISSN 2405-8963. [elib]
  • Marie Christin Harder, Manuel Keppler, Xuming Meng, Christian Ott, Hannes Höppner et 1 al.:
    Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators
    IEEE Robotics and Automation Letters, vol. 7 (3). IEEE - Institute of Electrical and Electronics Engineers, 2022. DOI 10.1109/LRA.2022.3176094, ISSN 2377-3766. [elib]
  • Mathew Jose Pollayil, Cosimo Della Santina, George-Adrian Mesesan, Johannes Englsberger, Daniel Seidel et 4 al.:
    Planning Natural Locomotion for Articulated Soft Quadrupeds
    In: 39th IEEE International Conference on Robotics and Automation, ICRA 2022. 2022 International Conference on Robotics and Automation (ICRA), 2022-05-23 - 2022-05-27, Philadelphia, PA, USA, 2022. DOI 10.1109/ICRA46639.2022.9812416, ISBN 978-172819681-7, ISSN 1050-4729. [elib]
  • Ria Vijayan, Marco De Stefano, Christian Ott:
    A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase
    In: 39th IEEE International Conference on Robotics and Automation, ICRA 2022. International Conference on Robotics and Automation (ICRA), 2022-05-23 - 2022-05-27, Philadelphia, USA, 2022. DOI 10.1109/ICRA46639.2022.9812067, ISBN 978-172819681-7, ISSN 1050-4729. [elib]
  • Manuel Keppler, Clara Maria Raschel, David Wandinger, Andreas Stemmer, Christian Ott:
    Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments
    IEEE Robotics and Automation Letters, vol. 7 (3). IEEE - Institute of Electrical and Electronics Engineers, 2022. DOI 10.1109/LRA.2022.3187277, ISSN 2377-3766. [elib]
  • Michael Rothammer, Andre Coelho, Hrishik Mishra, Christian Ott, Antonio Franchi et 1 al.:
    A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework
    IEEE Control Systems Letters, vol. 7. IEEE - Institute of Electrical and Electronics Engineers, 2022. DOI 10.1109/LCSYS.2022.3187349, ISSN 2475-1456. [elib]
  • Xuming Meng, Manuel Keppler, Christian Ott:
    Passivity-based Motion and Force Tracking Control for Constrained Elastic Joint Robots
    IEEE Control Systems Letters. IEEE - Institute of Electrical and Electronics Engineers, 2022. DOI 10.1109/LCSYS.2022.3187345, ISSN 2475-1456. [elib]
  • Michel Youssef, Christian Ott, Dongheui Lee:
    Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators
    IEEE Transactions on Robotics, vol. 38 (6). IEEE - Institute of Electrical and Electronics Engineers, 2022. DOI 10.1109/TRO.2022.3174478, ISSN 1552-3098. [elib]
  • Robert Schuller, George-Adrian Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott:
    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, 2022. DOI 10.1109/ICRA46639.2022.9811708, ISBN 978-172819681-7, ISSN 1050-4729. [elib]
  • Michael Panzirsch, Aaron Pereira, Harsimran Singh, Bernhard Weber, Edmundo Ferreira et 16 al.:
    Exploring planet geology through force-feedback telemanipulation from orbit
    Science Robotics, vol. 7 (65). American Association for the Advancement of Science (AAAS), 2022. DOI 10.1126/scirobotics.abl6307, ISSN 2470-9476. [elib]
  • Manuel Keppler, Christian Ott, Alin Olimpiu Albu-Schäffer:
    From underactuation to quasi-full actuation: Aiming at a unifying control framework for articulated soft robots
    International Journal of Robust and Nonlinear Control, vol. 32 (9). Wiley, 2022. DOI 10.1002/rnc.6102, ISSN 1049-8923. [elib]
  • Michael Panzirsch, Marek Sierotowicz, Revanth Prakash, Harsimran Singh, Christian Ott:
    Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference
    IEEE Robotics and Automation Letters, vol. 7 (2). IEEE - Institute of Electrical and Electronics Engineers, 2022. DOI 10.1109/LRA.2022.3147566, ISSN 2377-3766. [elib]
  • Yisoo Lee, Nikos Tsagarakis, Christian Ott, Jinoh Lee:
    A Generalized Index for Fault-tolerant Control in Operational Space under Free-swinging Actuation Failure
    IEEE Robotics and Automation Letters, vol. 7 (2). IEEE - Institute of Electrical and Electronics Engineers, 2022. DOI 10.1109/LRA.2022.3140425, ISSN 2377-3766. [elib]
  • Jinyeong Jeong, Hrishik Mishra, Christian Ott, MinJun Kim:
    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. 2022 International Conference on Robotics and Automation (ICRA), 2022-05-23 - 2022-05-27, Philadelphia, PA, USA, 2022. DOI 10.1109/ICRA46639.2022.9812268, ISBN 978-172819681-7, ISSN 1050-4729. [elib]
  • Christian Ott, Fabian Beck, Manuel Keppler:
    An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots
    In: 13th IFAC Symposium on Robot Control (SYROCO). 13th IFAC Symposium on Robot Control (SYROCO), 2022-10-17 - 2022-10-20, Matsumoto, Japan, 2022. DOI 10.1016/j.ifacol.2023.01.142, ISSN 2405-8963. [elib]
  • Xuwei Wu, Christian Ott, Alexander Dietrich:
    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, 2022. DOI 10.23919/ACC53348.2022.9867784, ISBN 978-166545196-3, ISSN 0743-1619. [elib]
  • George Jose Pollayil, Xuming Meng, Manuel Keppler, Martin Pfanne, Antonio Bicchi et 1 al.:
    Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems
    IEEE Control Systems Letters. IEEE - Institute of Electrical and Electronics Engineers, 2021. DOI 10.1109/LCSYS.2021.3136749, ISSN 2475-1456. [elib]
  • MinJun Kim, Alexander Werner, Florian Christoph Loeffl, Christian Ott:
    Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control
    IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers, 2021. DOI 10.1109/TRO.2021.3071617, ISSN 1552-3098. [elib]
  • Fabian Beck, Noboru Sakamoto, Christian Ott:
    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, IFAC-PapersOnLine, vol. 54 (19). 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, 2021-10-11 - 2021-10-13, Berlin, Germany, 2021. DOI 10.1016/j.ifacol.2021.11.102, ISSN 2405-8963. [elib]
  • Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Marie Christin Harder, Maged Samuel Zakri Iskandar et 3 al.:
    Practical Consequences of Inertia Shaping for Interaction and Tracking in Robot Control
    Control Engineering Practice, vol. 114. Elsevier, 2021. DOI 10.1016/j.conengprac.2021.104875, ISSN 0967-0661. [elib]
  • Hrishik Mishra, Ribin Balachandran, Marco De Stefano, Christian Ott:
    A Compliant Partitioned Shared Control Strategy for an Orbital Robot
    IEEE Robotics and Automation Letters, IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 6 (4). IEEE - Institute of Electrical and Electronics Engineers, 2021. DOI 10.1109/LRA.2021.3097509, ISSN 2377-3766. [elib]
  • Andre Fialho Coelho, Iurii Sarkisov, Jongseok Lee, Ribin Balachandran, Antonio Franchi et 2 al.:
    Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View
    In: 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021. 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021-06-15 - 2021-06-18, Athens, Greece, 2021. DOI 10.1109/ICUAS51884.2021.9476739, ISBN 978-073813115-3, ISSN 2575-7296. [elib]
  • Alessandro Massimo Giordano, Davide Calzolari, Marco De Stefano, Hrishik Mishra, Christian Ott et 1 al.:
    Compliant Floating-Base Control of Space Robots
    IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers, 2021. DOI 10.1109/LRA.2021.3097496, ISSN 2377-3766. [elib]
  • Gianluca Garofalo, Xuwei Wu, Christian Ott:
    Adaptive Passivity-based Multi-Task Tracking Control for Robotic Manipulators
    IEEE Robotics and Automation Letters, vol. 6 (4). IEEE - Institute of Electrical and Electronics Engineers, 2021. DOI 10.1109/LRA.2021.3095930, ISSN 2377-3766. [elib]
  • Xuming Meng, Manuel Keppler, Christian Ott:
    Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation
    In: 2021 European Control Conference, ECC 2021. 2021 European Control Conference (ECC 2021), 2021-06-29 - 2021-07-02, Rotterdam, The Netherlands, 2021. DOI 10.23919/ECC54610.2021.9655122, ISBN 978-946384236-5. [elib]
  • Robert Schuller, George-Adrian Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott:
    Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery
    IEEE Robotics and Automation Letters, vol. 6 (3). IEEE - Institute of Electrical and Electronics Engineers, 2021. DOI 10.1109/LRA.2021.3082023, ISSN 2377-3766. [elib]
  • Manuel Keppler, Florian Christoph Loeffl, David Wandinger, Clara Maria Raschel, Christian Ott:
    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, 2021. DOI 10.1109/LRA.2021.3097079, ISSN 2377-3766. [elib]
  • Thomas Hulin, Michael Panzirsch, Harsimran Singh, Andre Coelho, Ribin Balachandran et 19 al.:
    Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases
    Frontiers in Robotics and AI, Legacy Disruptors in Applied Telerobotics, vol. 8 (611251). Frontiers Media S.A, 2021. DOI 10.3389/frobt.2021.611251, ISSN 2296-9144. [elib]
  • Ribin Balachandran, Mishra Hrishik, Michael Panzirsch, Christian Ott:
    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, 2021. DOI 10.1109/ICRA48506.2021.9561192, ISBN 978-172819077-8, ISSN 1050-4729. [elib]
  • Andre Fialho Coelho, Iurii Sarkisov, Xuwei Wu, Hrishik Mishra, Harsimran Singh et 4 al.:
    Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation
    Journal of Intelligent & Robotic Systems, Topical collection on ICAR 2019 Special Issue, vol. 102 (14). Springer, 2021. DOI 10.1007/s10846-021-01365-7, ISSN 0921-0296. [elib]
  • Marco De Stefano, Hrishik Mishra, Alessandro Massimo Giordano, Roberto Lampariello, Christian Ott:
    A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions
    IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers, 2021. DOI 10.1109/LRA.2021.3064510, ISSN 2377-3766. [elib]
  • Ribin Balachandran, Michael Panzirsch, Marco de Stefano, Harsimran Singh, Christian Ott et 1 al.:
    Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference
    IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers, 2021. DOI 10.1109/LRA.2021.3064452, ISSN 2377-3766. [elib]
  • Hrishik Mishra, Alessandro Massimo Giordano, Marco De Stefano, Roberto Lampariello, Christian Ott:
    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. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020-10-24 - 2021-01-24, Las Vegas, NV, USA, 2021. DOI 10.1109/IROS45743.2020.9341633, ISBN 978-172816212-6, ISSN 2153-0858. [elib]
  • Riccardo Mengacci, Manuel Keppler, Martin Pfanne, Antonio Bicchi, Christian Ott:
    Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa)
    IEEE Robotics and Automation Letters, vol. 6 (2). IEEE - Institute of Electrical and Electronics Engineers, 2021. DOI 10.1109/LRA.2021.3052434, ISSN 2377-3766. [elib]
  • Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano, Christian Ott:
    Output Feedback Stabilization of an Orbital Robot
    In: 59th IEEE Conference on Decision and Control, CDC 2020. 2020 59th IEEE Conference on Decision and Control (CDC), 2020-12-14 - 2020-12-18, Jeju, Korea (South), 2021. DOI 10.1109/CDC42340.2020.9304044, ISBN 978-172817447-1, ISSN 0743-1546. [elib]
  • P. Colmenarejo, Nuno Santos, Pedro Serra, J. Telaar, Hans Strauch et 7 al.:
    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, 2021. [elib]
  • Johannes Englsberger, Alessandro Massimo Giordano, Achraf Hiddane, Robert Schuller, Florian Christoph Loeffl et 2 al.:
    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, 2021. DOI 10.1109/HUMANOIDS47582.2021.9555804, ISBN 978-172819372-4, ISSN 2164-0572. [elib]
  • George-Adrian Mesesan, Johannes Englsberger, Christian Ott:
    Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion
    In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. IEEE International Conference on Robotics and Automation ICRA, 2021-05-30 - 2021-06-05, Beijing, China, 2021. DOI 10.1109/ICRA48506.2021.9560808, ISBN 978-172819077-8, ISSN 1050-4729. [elib]
  • Shengzhi Wang, George-Adrian Mesesan, Johannes Englsberger, Dongheui Lee, Christian Ott:
    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, 2021. DOI 10.1109/HUMANOIDS47582.2021.9555676, ISBN 978-172819372-4, ISSN 2164-0572. [elib]
  • Bastian Deutschmann, Concepcion Alicia Monje, Christian Ott:
    Multi-input multi-output fractional-order control of an underactuated continuum mechanism
    International Journal of Advanced Robotic Systems, Sage Journals, vol. 17 (6). SAGE Publications, 2020. DOI 10.1177/1729881420969578, ISSN 1729-8806. [elib]
  • Maged Iskandar, Christian Ott, Oliver Eiberger, Manuel Keppler, Alin Albu-Schäffer et 1 al.:
    Joint-Level Control of the DLR Lightweight Robot SARA
    In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020-10-25 - 2020-10-29, Las Vegas, NV, USA, 2020. DOI 10.1109/iros45743.2020.9340700, ISBN 978-172816212-6, ISSN 2153-0858. [elib]
  • Iurii Sarkisov, MinJun Kim, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak:
    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. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-08-31, Paris, France, 2020. DOI 10.1109/ICRA40945.2020.9197055, ISBN 978-172817395-5, ISSN 1050-4729. [elib]
  • Harsimran Singh, Michael Panzirsch, Andre Coelho, Christian Ott:
    Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance
    IEEE Robotics and Automation Letters, IEEE Robotics and Automation Letters, vol. 5 (4). IEEE - Institute of Electrical and Electronics Engineers, 2020. DOI 10.1109/LRA.2020.3013860, ISSN 2377-3766. [elib]
  • Hrishik Mishra, Marco De Stefano, Alessandro Giordano, Roberto Lampariello, Christian Ott:
    A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target
    In: 2020 American Control Conference, ACC 2020. 2020 American Control Conference (ACC), 2020-07-01 - 2020-07-03, Denver, CO, USA, 2020. DOI 10.23919/ACC45564.2020.9147294, ISBN 978-153868266-1, ISSN 0743-1619. [elib]
  • Michael Panzirsch, Harsimran Singh, Christian Ott:
    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, 2020. DOI 10.1109/LRA.2020.3010727, ISSN 2377-3766. [elib]
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    FingerTac - A Wearable Tactile Thimble for Mobile Haptic Augmented Reality Applications
    In: 22nd International Conference on Human-Computer Interaction, HCII 2020. International Conference on Human-Computer Interaction (HCI), 2020-07-19 - 2020-07-24, Copenhagen, Denmark, 2020. DOI 10.1007/978-3-030-49695-1_19, ISBN 978-303060113-3, ISSN 0302-9743. [elib]
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    Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters
    In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-08-31, Paris, France (Online), 2020. DOI 10.1109/ICRA40945.2020.9196941, ISBN 978-172817395-5, ISSN 1050-4729. [elib]
  • Ribin Balachandran, Jee-Hwan Ryu, Mikael Jorda, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation
    In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-08-31, Paris, France (Online), 2020. DOI 10.1109/ICRA40945.2020.9197420, ISBN 978-172817395-5, ISSN 1050-4729. [elib]
  • Andre Fialho Coelho, Harsimran Singh, Konstantin Kondak, Christian Ott:
    Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator
    In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. ICRA 2020, 2020-05-31 - 2020-08-31, Paris, Frankreich, 2020. DOI 10.1109/ICRA40945.2020.9197028, ISBN 978-172817395-5, ISSN 1050-4729. [elib]
  • Gianluca Garofalo, Fabian Beck, Julian Klodmann, Christian Ott:
    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, 2020. ISBN 978-390714401-5, ISSN 1792-6688. [elib]
  • Gianluca Garofalo, Fabian Beck, Julian Klodmann, Christian Ott:
    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, 2020. ISBN 978-390714401-5, ISSN 1792-6688. [elib]
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  • Alexander Dietrich, Christian Ott:
    Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots
    IEEE Transactions on Robotics, vol. 36 (1). IEEE - Institute of Electrical and Electronics Engineers, 2020. DOI 10.1109/TRO.2019.2945876, ISSN 1552-3098. [elib]
  • Moritz Maier, Manuel Keppler, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots
    IEEE Robotics and Automation Letters, vol. 5 (2). IEEE - Institute of Electrical and Electronics Engineers, 2020. DOI 10.1109/LRA.2020.2967333, ISSN 2377-3766. [elib]
  • Johannes Englsberger, Alexander Dietrich, George-Adrian Mesesan, Gianluca Garofalo, Christian Ott et 1 al.:
    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), 2020. DOI 10.15607/RSS.2020.XVI.077, ISBN 978-0-9923747-6-1, ISSN 2330-765X. [elib]
  • Gianluca Garofalo, Christian Ott:
    Hierarchical Tracking Control with Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds
    IEEE Robotics and Automation Letters, vol. 5 (4). IEEE - Institute of Electrical and Electronics Engineers, 2020. DOI 10.1109/LRA.2020.3010449, ISSN 2377-3766. [elib]
  • Alessandro Massimo Giordano, Alexander Dietrich, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Coordination of thrusters, reaction wheels, and arm in orbital robots
    Robotics and Autonomous Systems, vol. 131. Elsevier, 2020. DOI 10.1016/j.robot.2020.103564, ISSN 0921-8890. [elib]
  • Youssef Michel, Christian Ott, Dongheui Lee:
    Passivity-based variable impedance control for redundant manipulators
    IFAC-PapersOnLine, vol. 53 (2). IFAC Secretariat, 2020. DOI 10.1016/j.ifacol.2020.12.2692, ISSN 2405-8963. [elib]
  • Michael Panzirsch, Harsimran Singh, Thomas Krüger, Christian Ott, Alin Olimpiu Albu-Schäffer:
    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, 2020. DOI 10.1109/AERO47225.2020.9172665, ISBN 978-172812734-7, ISSN 1095-323X. [elib]
  • Iurii Sarkisov, MinJun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott et 2 al.:
    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, 2019. ISBN 978-153866026-3, ISSN 10504729. [elib]
  • Andre Coelho, Christian Ott, Harsimran Singh, Fernando Lizarralde, Konstantin Kondak:
    Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation
    In: International Conference on Advanced Robotics, Proceedings, ICAR. 19th International Conference on Advanced Robotics, 2019-12-02 - 2019-12-06, Belo Horizonte, Brazil, 2019. DOI 10.1109/ICAR46387.2019.8981661. [elib]
  • Abderrameh Kheddar, Stephan Caron, Pierre Gergondet, Andrew Comport, Arnaud Tanguy et 14 al.:
    Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases
    IEEE Robotics & Automation Magazine, vol. 26 (4). IEEE - Institute of Electrical and Electronics Engineers, 2019. DOI 10.1109/MRA.2019.2943395, ISSN 1070-9932. [elib]
  • MinJun Kim, Fabian Beck, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Model-free Friction Observers for Flexible Joint Robots with Torque Measurements
    IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers, 2019. DOI 10.1109/tro.2019.2926496, ISSN 1552-3098. [elib]
  • Juan Miguel Garcia-Haro, Bernd Henze, George Mesesan, Santiago Martinez, Christian Ott:
    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, 2019. DOI 10.1109/Humanoids43949.2019.9035010, ISSN 2164-0572. [elib]
  • George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
    Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control
    In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2019-10-15 - 2019-10-17, Toronto, Canada, 2019. DOI 10.1109/Humanoids43949.2019.9035053, ISSN 2164-0572. [elib]
  • Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano, Christian Ott:
    A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements
    In: 2019 American Control Conference, ACC 2019, 2019 American Control Conference (ACC). 2019 American Control Conference (ACC), 2019-07-10 - 2019-07-12, Philadelphia, PA, USA, USA, 2019. DOI 10.23919/ACC.2019.8814815, ISBN 978-1-5386-7926-5, ISSN 2378-5861. [elib]
  • MinJun Kim, Woongyong Lee, Jaeyeon Choi, Goobong Chung, Kyung-Lyong Han Han et 3 al.:
    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, 2019. DOI 10.1109/tmech.2019.2912488, ISSN 1083-4435. [elib]
  • Bastian Deutschmann, Maxime Chalon, Jens Reinecke, Maximilian Maier, Christian Ott:
    Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model
    IEEE Robotics and Automation Letters, vol. 4 (4). IEEE - Institute of Electrical and Electronics Engineers, 2019. DOI 10.1109/LRA.2019.2927943, ISSN 2377-3766. [elib]
  • Firas Abi-Farraj, Bernd Henze, Christian Ott, Paolo Robuffo Giordano, Máximo Alejandro Roa Garzon:
    Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks
    IEEE Robotics and Automation Letters, vol. 4 (2). IEEE - Institute of Electrical and Electronics Engineers, 2019. DOI 10.1109/lra.2019.2898041, ISSN 2377-3766. [elib]
  • Marco De Stefano, Hrishik Mishra, Ribin Balachandran, Roberto Lampariello, Christian Ott et 1 al.:
    Multi-rate Tracking Control for a Space Robot on a Controlled Satellite: a Passivity-based Strategy
    IEEE Robotics and Automation Letters, vol. 4 (2). IEEE - Institute of Electrical and Electronics Engineers, 2019. DOI 10.1109/LRA.2019.2895420, ISSN 2377-3766. [elib]
  • Fabian Beck, Gianluca Garofalo, Christian Ott:
    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, 2019. DOI 10.1109/ICRA.2019.8793904, ISBN 978-153866026-3, ISSN 10504729. [elib]
  • J. Cieslak, D. Henry, P. Colmenarejo, J. Branco, N. Santos et 12 al.:
    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, 2019. DOI 10.1109/SYSTOL.2019.8864753. [elib]
  • Gianluca Garofalo, Nico Mansfeld, Julius Jankowski, Christian Ott:
    Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration
    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, 2019. DOI 10.1109/ICRA.2019.8793529, ISBN 978-153866026-3, ISSN 10504729. [elib]
  • Gianluca Garofalo, Alexander Werner, Florian Christoph Loeffl, Christian Ott:
    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, 2019. DOI 10.1109/lcsys.2018.2851139, ISSN 2475-1456. [elib]
  • Alessandro Massimo Giordano, Christian Ott, Alin Albu-Schäffer:
    Coordinated control of spacecraft’s attitude and end-effector for space robots
    IEEE Robotics and Automation Letters, vol. 4 (2). IEEE - Institute of Electrical and Electronics Engineers, 2019. DOI 10.1109/LRA.2019.2899433, ISSN 2377-3766. [elib]
  • D. Henry, J. Cieslak, J.Z. Torres, P. Colmenarejo, J. Branco et 13 al.:
    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, 2019. DOI 10.23919/ECC.2019.8796282, ISBN 978-390714400-8, ISSN 1792-6688. [elib]
  • Bernd Henze, Máximo Alejandro Roa Garzon, Alexander Werner, Alexander Dietrich, Christian Ott et 1 al.:
    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 International Conference on Robotics and Automation, 2019-05-20 - 2019-05-24, Montreal, 2019. DOI 10.1109/ICRA.2019.8794096, ISBN 978-153866026-3, ISSN 10504729. [elib]
  • Iurii Sarkisov, MinJun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott et 2 al.:
    Development of SAM: cable-Suspended Aerial Manipulator
    In: 2019 International Conference on Robotics and Automation, ICRA 2019. ICRA 2019, 2019-05-20 - 2019-05-25, Montreal, Canada, 2019. DOI 10.1109/ICRA.2019.8793592, ISBN 978-153866026-3, ISSN 10504729. [elib]
  • MinJun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott:
    Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses
    In: 12th International IFAC Symposium on Robot Control, IFAC-PapersOnLine, vol. 51 (22). 12th IFAC Symposium on Robot Control, Budapest, Hungary, 2018. DOI 10.1016/j.ifacol.2018.11.590, ISSN 2405-8963. [elib]
  • Gianluca Garofalo, Christian Ott:
    Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control
    In: 12th International IFAC Symposium on Robot Control, IFAC-PapersOnLine, vol. 51 (22). 12th International IFAC Symposium on Robot Control, Budapest, Hungary, 2018. DOI 10.1016/j.ifacol.2018.11.520, ISSN 2405-8963. [elib]
  • Johannes Englsberger, George Mesesan, Christian Ott, Alin Albu-Schäffer:
    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, 2018. DOI 10.1109/HUMANOIDS.2018.8625006, ISSN 2164-0572. [elib]
  • Alexander Beyer, Gerhard Grunwald, Martin Heumos, Manfred Schedl, Ralph Bayer et 21 al.:
    CAESAR: Space Robotics Technology for Assembly, Maintenance, and Repair
    In: Proceedings of the International Astronautical Congress, IAC. 69th International Astronautical Congress (IAC), 2018-10-01 - 2018-10-05, Bremen, 2018. ISSN 0074-1795. [elib]
  • Bastian Deutschmann, Simon Eugster, Christian Ott:
    Reduced Models for the Static Simulation of an Elastic Continuum Mechanism
    IFAC-PapersOnLine, 9th Vienna International Conference on Mathematical Modelling, vol. 51 (2). IFAC Secretariat, 2018. DOI 10.1016/j.ifacol.2018.03.069, ISSN 2405-8963. [elib]
  • Hrishik Mishra, Marco de Stefano, Alessandro Massimo Giordano, Christian Ott:
    Tracking control with robotic systems for a moving target: A vector lyapunov function approach
    In: 12th International IFAC Symposium on Robot Control, IFAC-PapersOnLine, vol. 51 (22). 12th IFAC Symposium on Robot Control SYROCO, 2018-08-27 - 2018-08-30, Budapest, Ungarn, 2018. DOI 10.1016/j.ifacol.2018.11.589, ISSN 2405-8963. [elib]
  • George-Adrian Mesesan, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
    Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion
    IEEE Robotics and Automation Letters, vol. 3 (4). IEEE - Institute of Electrical and Electronics Engineers, 2018. DOI 10.1109/LRA.2018.2853557, ISSN 2377-3766. [elib]
  • Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Elastic Structure Preserving Impedance (ESPi) Control for Compliantly Actuated Robots
    In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), 2018-10-01 - 2018-10-05, Madrid, Spain, 2018. DOI 10.1109/IROS.2018.8593415, ISBN 978-153868094-0, ISSN 2153-0858. [elib]
  • Bastian Deutschmann, Tong Liu, Alexander Dietrich, Christian Ott, Dongheui Lee:
    A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism
    IEEE Robotics and Automation Letters, vol. 3 (3). IEEE - Institute of Electrical and Electronics Engineers, 2018. DOI 10.1109/LRA.2018.2800098, ISSN 2377-3766. [elib]
  • Michael Panzirsch, Harsimran Singh, Martin Stelzer, Martin J. Schuster, Christian Ott et 1 al.:
    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, 2018. [elib]
  • Jerry Pratt, Christian Ott, Sang-Ho Hyon:
    Introduction to Humanoid Balance
    In: Humanoid Robotics: A Reference, Living reference work. Springer Science + Business Media. 2018. DOI 10.1007/978-94-007-7194-9_36-1, ISBN 978-94-007-7194-9. [elib]
  • Alexander Dietrich, Christian Ott, Jaeheung Park:
    The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case
    IEEE Robotics and Automation Letters, vol. 3 (2). IEEE - Institute of Electrical and Electronics Engineers, 2018. DOI 10.1109/LRA.2018.2792154, ISSN 2377-3766. [elib]
  • Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots
    IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers, 2018. DOI 10.1109/tro.2017.2776314, ISSN 1552-3098. [elib]
  • MinJun Kim, Konstantin Kondak, Christian Ott:
    A stabilizing controller for regulation of uav with manipulator
    IEEE Robotics and Automation Letters, vol. 3 (3). IEEE - Institute of Electrical and Electronics Engineers, 2018. DOI 10.1109/LRA.2018.2803205, ISSN 2377-3766. [elib]
  • Bastian Deutschmann, Christian Ott, Concepcion Alicia Monje, Carlos Balaguer:
    Robust Motion Control of a Soft Robotic System Using Fractional Order Control
    In: Advances in Service and Industrial Robotics, Mechanism and Machine Science, vol. 49 (1). Springer International Publishing. 2018. DOI 10.1007/978-3-319-61276-8, ISBN 978-3-319-61275-1, ISSN 2211-0984. [elib]
  • Firas Abi-Farraj, Bernd Henze, Alexander Werner, Michael Panzirsch, Christian Ott et 1 al.:
    Humanoid Teleoperation Using Task-Relevant Haptic Feedback
    In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2018-10-01 - 2018-10-05, Madrid, Spain, 2018. DOI 10.1109/iros.2018.8593521, ISBN 978-153868094-0, ISSN 2153-0858. [elib]
  • Ribin Balachandrand, Natalia Kozlova, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Non-Linear Local Force Feedback Control for Haptic Interfaces
    In: 12th International IFAC Symposium on Robot Control, IFAC-PapersOnLine, vol. 51 (22). 12th IFAC Symposium on Robot Control, 2018-08-26 - 2018-08-30, Budapest, Hungary, 2018. DOI 10.1016/j.ifacol.2018.11.587, ISSN 2405-8963. [elib]
  • Kristin Bussmann, Alexander Dietrich, Christian Ott:
    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. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018-05-21 - 2018-05-25, Brisbane, Australien, 2018. DOI 10.1109/ICRA.2018.8460533, ISBN 978-153863081-5, ISSN 1050-4729. [elib]
  • Marco De Stefano, Ribin Balachandran, Alessandro Massimo Giordano, Christian Ott, Cristian Secchi:
    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. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018-05-21 - 2018-05-25, Brisbane, QLD, Australia, 2018. DOI 10.1109/ICRA.2018.8460497, ISBN 978-153863081-5, ISSN 1050-4729. [elib]
  • Johannes Englsberger, George Mesesan, Alexander Werner, Christian Ott:
    Torque-based dynamic walking - A long way from simulation to experiment
    In: 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. International Conference on Robotics and Automation (ICRA) 2018, 2018-05-21 - 2018-05-25, Brisbane, Australien, 2018. DOI 10.1109/ICRA.2018.8462862, ISBN 978-153863081-5, ISSN 1050-4729. [elib]
  • Gianluca Garofalo, Fabian Beck, Christian Ott:
    Task-space Tracking Control for Underactuated Aerial Manipulators
    In: 16th European Control Conference, ECC 2018. European Control Conference 2018, 2018-06-12 - 2018-06-15, Limassol, Cyprus, 2018. DOI 10.23919/ECC.2018.8550248, ISBN 978-3-9524-2698-2, ISSN 1792-6688. [elib]
  • Gianluca Garofalo, Christian Ott:
    Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation
    In: 10th International Workshop on Human Friendly Robotics, HFR 2017, Springer Proceedings in Advanced Robotics, vol. 7. 10th International Workshop on Human Friendly Robotics (HFR), 2017-11-06 - 2017-11-07, 10th International Workshop on Human Friendly Robotics (HFR), 2018. DOI 10.1007/978-3-319-89327-3_3, ISBN 978-3-319-89326-6, ISSN 2511-1256. [elib]
  • Bernd Henze, Ribin Balachandran, Máximo Alejandro Roa Garzon, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Passivity Analysis and Control of Humanoid Robots on Movable Ground
    IEEE Robotics and Automation Letters, vol. 3 (4). IEEE - Institute of Electrical and Electronics Engineers, 2018. DOI 10.1109/lra.2018.2853266, ISSN 2377-3766. [elib]
  • Manuel Keppler, Dominic Lakatos, Christian Ott, Albu-Schäffer Alin:
    Visco-Elastic Structure Preserving Impedance (VESPi) Control for Compliantly Actuated Robots
    In: 16th European Control Conference, ECC 2018. ECC 2018, 2018-06-12 - 2018-06-15, Limassol, Cyprus, 2018. DOI 10.23919/ECC.2018.8550200, ISBN 978-3-9524-2698-2, ISSN 1792-6688. [elib]
  • MinJun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott:
    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, 2018. DOI 10.1109/iros.2018.8593718, ISBN 978-153868094-0, ISSN 2153-0858. [elib]
  • Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano, Christian Ott:
    Tracking Control with Robotic Systems for a Moving Target: A Vector Lyapunov Function Approach
    In: IFAC Proceedings Volumes (IFAC-PapersOnline), IFAC-PapersOnLine, vol. 51 (22). 12th IFAC Symposium on Robot Control SYROCO, 2018-08-27 - 2018-08-30, Budapest, Hungary, 2018. DOI 10.1016/j.ifacol.2018.11.589, ISSN 2405-8963. [elib]
  • Máximo Alejandro Roa Garzon, Bernd Henze, Christian Ott:
    Model-Based Posture Control for a Torque-Controlled Humanoid Robot
    In: 2018 International Symposium on Wearable Robotics and Rehabilitation, WeRob 2018, Biosystems & Biorobotics, vol. 22. International Symposium on Wearable Robotics, 2018-10-16 - 2018-10-20, Pisa, Italy, 2018. DOI 10.1007/978-3-030-01887-0, ISBN 978-3-030-01886-3. [elib]
  • Anton Shu, Bastian Deutschmann, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
    Robust H∞ control of a tendon driven-elastic continuum mechanism via a systematic description of nonlinearities
    IFAC-PapersOnLine, 12th IFAC Symposium on Robot Control SYROCO 2018 Budapest, Hungary, 27–30 August 2018, vol. 51 (22). IFAC Secretariat, 2018. DOI 10.1016/j.ifacol.2018.11.572, ISSN 2405-8963. [elib]
  • Alexander Werner, Bernd Henze, Manuel Keppler, Florian Christoph Loeffl, Sigrid Leyendecker et 1 al.:
    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. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2018-10-01 - 2018-10-05, Madrid, Spain, 2018. DOI 10.1109/iros.2018.8593596, ISBN 978-153868094-0, ISSN 2153-0858. [elib]
  • Bastian Deutschmann, Alexander Dietrich, Christian Ott:
    Position Control of an Underactuated Continuum Mechanism using a Reduced Nonlinear Model
    In: IEEE Conference on Decision and Control, 2017 IEEE 56th Annual Conference on Decision and Control (CDC). 56th Annual Conference on Decision and Control (CDC), 2017-12-12 - 2017-12-15, Melbourne, VIC, Australia, 2017. DOI 10.1109/CDC.2017.8264433, ISBN 978-1-5090-2873-3. [elib]
  • Alexander Werner, Bernd Henze, Florian Christoph Loeffl, Sigrid Leyendecker, Christian Ott:
    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, 2017. DOI 10.1109/HUMANOIDS.2017.8239549. [elib]
  • Teodor Tomic, Christian Ott, Sami Haddadin:
    External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots
    IEEE Transactions on Robotics, vol. 33 (6). IEEE - Institute of Electrical and Electronics Engineers, 2017. DOI 10.1109/TRO.2017.2750703, ISSN 1552-3098. [elib]
  • Johannes Englsberger, George Mesesan, Christian Ott:
    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, 2017. DOI 10.1109/iros.2017.8206324. [elib]
  • Bernd Henze, Alexander Dietrich, Máximo Alejandro Roa Garzon, Christian Ott:
    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, 2017. DOI 10.1109/IROS.2017.8202227, ISBN 978-153862682-5, ISSN 2153-0858. [elib]
  • Moritz Maier, Konstantin Kondak, Christian Ott:
    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 International Conference on Intelligent Robots and Systems, 2017-09-24 - 2017-09-28, Vancouver, Canada, 2017. DOI 10.1109/iros.2017.8206399. [elib]
  • Christian Ott, Máximo Alejandro Roa Garzon, Florian Schmidt, Werner Friedl, Johannes Englsberger et 10 al.:
    Mechanisms and Design of DLR Humanoid Robots
    In: Humanoid Robotics: A Reference, Living reference work. Springer Science + Business Media. 2017. DOI 10.1007/978-94-007-7194-9_132-1, ISBN 978-94-007-7194-9. [elib]
  • MinJun Kim, Alexander Werner, Florian Christoph Loeffl, Christian Ott:
    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, 2017. DOI 10.1109/ICRA.2017.7989145, ISBN 978-150904633-1, ISSN 1050-4729. [elib]
  • George Mesesan, Johannes Englsberger, Bernd Henze, Christian Ott:
    Dynamic Multi-contact Transitions for Humanoid Robots using Divergent Component of Motion
    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, 2017. DOI 10.1109/ICRA.2017.7989473, ISBN 978-150904633-1, ISSN 1050-4729. [elib]
  • Christian Ott, Sang-Ho Hyon:
    Torque-based balancing
    In: Humanoid Robotics: A Reference, Living reference work. Springer Science + Business Media. 2017. DOI 10.1007/978-94-007-7194-9_39-1, ISBN 978-94-007-7194-9. [elib]
  • Hamid Sadeghian, Christian Ott, Gianluca Garofalo:
    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, 2017. DOI 10.1109/icra.2017.7989471. [elib]
  • Alexander Werner, Wojciech Turlej, Christian Ott:
    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, 2017. DOI 10.1109/iros.2017.8206476. [elib]
  • Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Christian Ott, Alin Olimpiu Albu-Schäffer et 1 al.:
    Passive Hierarchical Impedance Control via Energy Tanks
    IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers, 2016. DOI 10.1109/LRA.2016.2645504, ISSN 2377-3766. [elib]
  • Alessandro Massimo Giordano, Gianluca Garofalo, Marco De Stefano, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta
    In: IEEE Conference on Decision and Control. CDC, 2016-12-12 - 2016-12-14, Las Vegas, USA, 2016. DOI 10.1109/CDC.2016.7799432. [elib]
  • Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
    A Passivity-Based Controller for Motion Tracking and Damping Assignment for Compliantly Actuated Robots
    In: IEEE Conference on Decision and Control. 55th IEEE Conference on Decision and Control, 2016-12-12 - 2016-12-15, Las Vegas, USA, 2016. DOI 10.1109/CDC.2016.7798482. [elib]
  • Nicholas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux et 1 al.:
    Continuous Legged Locomotion Planning
    IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers, 2016. DOI 10.1109/TRO.2016.2623329, ISSN 1552-3098. [elib]
  • Hamid Sadeghian, Christian Ott, Gordon Cheng:
    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, 2016. DOI 10.1109/HUMANOIDS.2016.7803375. [elib]
  • Gianluca Garofalo, Christian Ott:
    Energy Based Limit Cycle Control of Elastically Actuated Robots
    IEEE Transactions on Automatic Control. IEEE - Institute of Electrical and Electronics Engineers, 2016. DOI 10.1109/TAC.2016.2599781, ISSN 0018-9286. [elib]
  • Johannes Englsberger, Pawel Kozlowski, Christian Ott, Alin Olimpiu Albu-Schäffer:
    Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back
    IEEE Transactions on Robotics, vol. 32 (4). IEEE - Institute of Electrical and Electronics Engineers, 2016. DOI 10.1109/TRO.2016.2581199, ISSN 1552-3098. [elib]
  • Bernd Henze, Máximo Alejandro Roa Garzon, Christian Ott:
    Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios
    International Journal of Robotics Research. SAGE Publications, 2016. DOI 10.1177/0278364916653815, ISSN 0278-3649. [elib]
  • Michael Panzirsch, Thomas Hulin, Jordi Artigas Esclusa, Christian Ott, Manuel Ferre:
    Integrating Measured Force Feedback in Passive Multilateral Teleoperation
    In: 10th International Conference on Haptics: Perception, Devices, Control, and Applications, EuroHaptics 2016, Lecture Notes in Computer Science. EuroHaptics 2016, 2016-07-04 - 2016-07-07, London, England, 2016. DOI 10.1007/978-3-319-42321-0_29, ISBN 978-3-319-42321-0, ISSN 0302-9743. [elib]
  • Nico Mansfeld, Christian Ott, Sami Haddadin:
    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, 2016. DOI 10.1109/ACC.2016.7526730. [elib]
  • Kai Hu, Christian Ott, Dongheui Lee:
    Learning and Generalization of Compensative Zero-Moment Point Trajectory for Biped Walking
    IEEE Transactions on Robotics, vol. 32 (3). IEEE - Institute of Electrical and Electronics Engineers, 2016. DOI 10.1109/TRO.2016.2553677, ISSN 1552-3098. [elib]
  • Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
    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, 2016. DOI 10.1109/ICRA.2016.7487239. [elib]
  • Christian Ott, Bernd Henze, Georg Hettich, Tim Niklas Seyde, Maximo A. Roa et 2 al.:
    Good Posture, Good Balance: Comparison of bio-inspired and model-based approaches for posture control of humanoid robots
    IEEE Robotics & Automation Magazine, vol. 23 (1). IEEE - Institute of Electrical and Electronics Engineers, 2016. DOI 10.1109/MRA.2015.2507098, ISSN 1070-9932. [elib]
  • Johannes Englsberger, Pawel Kozlowski, Christian Ott, Alin Olimpiu Albu-Schäffer:
    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, 2016. DOI 10.1109/tro.2016.2581199, ISSN 1552-3098. [elib]
  • Gianluca Garofalo, Christian Ott:
    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, 2016. DOI 10.1142/9789813149137_0090. [elib]
  • Shuuji Kajita, Christian Ott:
    Limbed Systems
    In: Handbook of Robotics. Springer. 2016. DOI 10.1007/978-3-319-32552-1_17. [elib]
  • Minjun Kim, Woongyong Lee, Christian Ott, Wan Kyun Chung:
    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, 2016. DOI 10.1109/IROS.2016.7759143. [elib]
  • Alexander Dietrich, Christian Ott, S. Stramigioli:
    Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks
    IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers, 2015. DOI 10.1109/LRA.2015.2512937, ISSN 2377-3766. [elib]
  • Bernd Henze, Alexander Dietrich, Christian Ott:
    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, 2015. DOI 10.1109/LRA.2015.2512933, ISSN 2377-3766. [elib]
  • Johannes Englsberger, Pawel Kozlowski, Christian Ott:
    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, 2015. DOI 10.1109/HUMANOIDS.2015.7363501. [elib]
  • Johannes Englsberger, Pawel Kozlowski, Christian Ott:
    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, 2015. DOI 10.1109/iros.2015.7353491. [elib]
  • Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
    An Overview of Null Space Projections for Redundant, Torque Controlled Robots
    International Journal of Robotics Research, vol. 34 (11). SAGE Publications, 2015. DOI 10.1177/0278364914566516, ISSN 0278-3649. [elib]
  • Gianluca Garofalo, Johannes Englsberger, Christian Ott:
    On the regulation of the energy of elastic joint robots: excitation and damping of oscillations
    In: American Control Conference (ACC). American Control Conference (ACC) 2015, 2015-07-01 - 2015-07-03, Chicago, USA, 2015. DOI 10.1109/ACC.2015.7172089. [elib]
  • Zhaopeng Chen, Thomas Wimböck, Maximo A. Roa, Benedikt Pleintinger, Miguel Neves et 3 al.:
    An Adaptive Compliant Multi-finger Approach-To-Grasp Strategy for Objects with Position Uncertainties
    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, 2015. DOI 10.1109/icra.2015.7139881. [elib]
  • Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
    Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion
    IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers, 2015. DOI 10.1109/tro.2015.2405592, ISSN 1552-3098. [elib]
  • Christian Ott, Alexander Dietrich, Alin Albu-Schäffer:
    Prioritized Multi-Task Compliance Control of Redundant Manipulators
    Automatica, vol. 53. Elsevier, 2015. DOI 10.1016/j.automatica.2015.01.015, ISSN 0005-1098. [elib]
  • Julian Klodmann, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
    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, 2015. DOI 10.1016/j.ifacol.2015.05.021. [elib]
  • Gianluca Garofalo, Bernd Henze, Johannes Englsberger, Christian Ott:
    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. 8th Vienna International Conference on Mathematical Modelling (2015), 2015-02-18 - 2015-02-20, Vienna, Austria, 2015. DOI 10.1016/j.ifacol.2015.05.189, ISSN 1682-1750. [elib]
  • Zhaopeng Chen, Christian Ott, Neal Y. Lii:
    A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework
    In: International Conference on Intelligent Robotics and Applications. The 8th International Conference on Intelligent Robotics and Applications, 2015-08-24 - 2015-08-27, Portsmouth, UK, 2015. DOI 10.1007/978-3-319-22876-1_33. [elib]
  • Alexander Dietrich, Kristin Bussmann, Florian Petit, Paul Kotyczka, Christian Ott et 2 al.:
    Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin
    Autonomous Robots. Springer, 2015. DOI 10.1007/s10514-015-9438-z, ISSN 0929-5593. [elib]
  • Gianluca Garofalo, Christian Ott:
    Limit Cycle Control Using Energy Function Regulation with Friction Compensation
    IEEE Robotics and Automation Letters, vol. 1 (1). IEEE - Institute of Electrical and Electronics Engineers, 2015. DOI 10.1109/LRA.2015.2507784, ISSN 2377-3766. [elib]
  • Kai Hu, Christian Ott, Dongheui Lee:
    Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization
    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, 2015. DOI 10.1109/ICRA.2015.7139913. [elib]
  • Phillip Schmidt, Jordi Artigas, Marco De Stefano, Ribin Balachandran, Christian Ott:
    Increasing the Performance of Torque-Based Visual Servoing by Applying Time Domain Passivity
    11th IFAC Symposium on Robot Control, Salvador, Brasilien, 2015. DOI 10.1016/j.ifacol.2015.12.003. [elib]
  • Alexander Werner, Roberto Lampariello, Christian Ott:
    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, 2014. DOI 10.1109/CDC.2014.7039845, ISSN 0733-8716. [elib]
  • Johannes Englsberger, Alexander Werner, Christian Ott, Bernd Henze, Maximo A. Roa et 6 al.:
    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, 2014. [elib]
  • Bernd Henze, Alexander Werner, Maximo A. Roa, Gianluca Garofalo, Johannes Englsberger et 1 al.:
    Control Applications of TORO - a Torque Controlled Humanoid Robot
    In: IEEE-RAS International Conference on Humanoid Robots, Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids). IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014-11-18 - 2014-11-20, Madrid, Spain, 2014. DOI 10.1109/HUMANOIDS.2014.7041461. [elib]
  • Johannes Englsberger, Twan Koolen, Sylvain Bertrand, Jerry Pratt, Christian Ott et 1 al.:
    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, 2014. DOI 10.1109/iros.2014.6943128. [elib]
  • Bernd Henze, Christian Ott, Maximo A. Roa:
    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), Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014-09-14 - 2014-09-18, Chicago, USA, 2014. DOI 10.1109/IROS.2014.6943014, ISSN 1042-296X. [elib]
  • Bastian Deutschmann, Rainer Konietschke, Christian Ott:
    Task Specific Evaluation of Kinematic Designs for Minimally Invasive Surgery
    Workshop on Medical and Service Robotics, 2014-07-10 - 2014-07-12, Lausanne, Switzerland, 2014. [elib]
  • Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
    3D locomotion based on Divergent Component of Motion
    In: Dynamic Walking 2014. Dynamic Walking 2014, 2014-06-10 - 2014-06-13, Zürich, Schweiz, 2014. [elib]
  • Tadej Petric, Leon Zlajpah, Gianluca Garofalo, Christian Ott:
    Walking with Adaptive Oscillator and Dynamic Movement Primitives
    International Journal of Mechanics and Control, vol. 15 (1). Levrotto and Bella, 2014. ISSN 1590-8844. [elib]
  • Monika Florek-Jasinska, Thomas Wimböck, Christian Ott:
    Humanoid compliant whole arm dexterous manipulation: Control design and experiments
    In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014-09-14 - 2014-09-18, Chicago, USA, 2014. DOI 10.1109/iros.2014.6942771, ISSN 1042-296X. [elib]
  • Kai Hu, Christian Ott, Dongheui Lee:
    Online Human Walking Imitation in Task and Joint Space based on Quadratic Programming
    In: IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation (ICRA), 2014-05-31 - 2014-06-07, Hong Kong, 2014. DOI 10.1109/icra.2014.6907357. [elib]
  • Yusuke Ogawa, Christian Ott, Gentiane Venture:
    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, 2014. DOI 10.1109/HUMANOIDS.2014.7041401. [elib]
  • Christian Ott, Ranjan Mukherjee, Yoshihiko Nakamura:
    A Hybrid System Framework for Unified Impedance and Admittance Control
    Journal of Intelligent & Robotic Systems. Springer, 2014. DOI 10.1007/s10846-014-0082-1, ISSN 0921-0296. [elib]
  • Florian Petit, Christian Ott, Alin Albu-Schäffer:
    A Model-Free Approach to Vibration Suppression for Intrinsically Elastic Robots
    In: IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation (ICRA), 2014-05-31 - 2014-06-07, Hong Kong, 2014. DOI 10.1109/icra.2014.6907159. [elib]
  • Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
    Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability
    In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013-11-03 - 2013-11-08, Tokyo, Japan, 2013. DOI 10.1109/iros.2013.6696787. [elib]
  • Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
    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, 2013. DOI 10.1109/IROS.2013.6696723. [elib]
  • Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
    On the closed form computation of the dynamic matrices and their differentiations
    In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013-11-03 - 2013-11-08, Tokyo, Japan, 2013. DOI 10.1109/iros.2013.6696688, ISSN 1042-296X. [elib]
  • Christian Ott, Bernd Henze, Dongheui Lee:
    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, 2013. DOI 10.1109/iros.2013.6697020. [elib]
  • Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
    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, 2013. DOI 10.1109/ACC.2013.6580733. [elib]
  • Dominic Lakatos, Gianluca Garofalo, Florian Petit, Christian Ott, Alin Albu-Schäffer:
    Modal Limit Cycle Control for Variable Stiffness Actuated Robots
    In: IEEE International Conference on Robotics and Automation (ICRA), Proceedings of IEEE International Conference on Robotics and Automation. International Conference on Robotics and Automation, 2013-05-06 - 2013-05-10, Karlsruhe, 2013. DOI 10.1109/icra.2013.6631282. [elib]
  • Tadej Petric, Leon Zlajpah, Gianluca Garofalo, Christian Ott:
    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, 2013. [elib]
  • Maximo A. Roa, Christian Ott:
    Balance and Posture Control for Biped Robots
    In: Multibody System Dynamics, Robotics and Control. Springer Vienna. 2013. DOI 10.1007/978-3-7091-1289-2_8, ISBN 9783709112885. [elib]
  • Johannes Englsberger, Christian Ott:
    Gangstabilisierung humanoider Roboter mittels Capture Point Regelung
    at - Automatisierungstechnik, Schwerpunktthema: Regelung von Laufrobotern. Walter de Gruyter GmbH, 2012. DOI 10.1524/auto.2012.1036, ISSN 0178-2312. [elib]
  • Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
    Walking control of fully actuated robots based on the Bipedal SLIP model
    ICRA (IEEE International Conference on Robotics and Automation), 2012-05-14 - 2012-05-18, St. Paul, USA, 2012. DOI 10.1109/icra.2012.6225272. [elib]
  • Christian Ott, Oliver Eiberger, Johannes Englsberger, Maximo A. Roa, Alin Albu-Schäffer:
    Hardware and Control Concept for an Experimental Bipedal Robot with Joint Torque Sensors
    Journal of the Robotics Society of Japan, vol. 30 (No. 4). 2012. [elib]
  • Alin Albu-Schäffer, Christian Ott, Florian Petit:
    Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems
    SYROCO 12, 2012-09-05 - 2012-09-07, Dubrovnik, 2012. DOI 10.3182/20120905-3-HR-2030.00132. [elib]
  • Johannes Englsberger, Christian Ott:
    Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking
    International Conference on Humanoid Robots (Humanoids 2012), 2012-11-29 - 2012-12-01, Osaka, Japan, 2012. DOI 10.1109/HUMANOIDS.2012.6651518. [elib]
  • Hiroshi Kaminaga, Johannes Englsberger, Christian Ott:
    Kinematic Optimization and Online Regeneration of Swing Foot Trajectory for Biped Locomotion
    In: Proceedings on International Conference on Humanoid Robots. International Conference on Humanoid Robots, 2012-11-29 - 2012-12-01, Osaka, Japan, 2012. [elib]
  • Manuel Krause, Johannes Englsberger, Pierre-Briece Wieber, Christian Ott:
    Stabilization of the Capture Point Dynamics for Bipedal Walking based on Model Predictive Control
    IFAC conference SYROCO 2012, 2012-09-05 - 2012-09-07, Dubrovnik, Kroatien, 2012. DOI 10.3182/20120905-3-HR-2030.00165. [elib]
  • Dana Kulic, Christian Ott, Dongheui Lee, Junichi Ishikawa, Yoshihiko Nakamura:
    Incremental Learning of Full Body Motion Primitives and their Sequencing through Human Motion Observation
    The International Journal of Robotics Research, vol. 31 (3). SAGE Publications, 2012. DOI 10.1177/0278364911426178, ISSN 0278-3649. [elib]
  • Alexander Werner, Roberto Lampariello, Christian Ott:
    Optimization-based generation and experimental validation of optimal walking trajectories for biped robots
    IROS 2012, 2012-10-07 - 2012-10-12, Portugal, 2012. DOI 10.1109/IROS.2012.6386154. [elib]
  • Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger:
    Comparison of Object Level Grasp Controllers for Dynamic Dexterous Manipulation
    The International Journal of Robotics Research, vol. 32 (2). SAGE Publications, 2012. DOI 10.1177/0278364911416526, ISSN 0278-3649. [elib]
  • Christian Ott, Maximo A. Roa:
    Torque and Force Controllers for a Biped Robot
    In: Extended abstracts - Dynamic Walking 2011. Dynamic Walking, 2011-07-18 - 2011-07-21, Jena, Germany, 2011. [elib]
  • Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin et 6 al.:
    Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance
    Springer-Verlag Berlin Heidelberg. 2011. [elib]
  • Johannes Englsberger, Christian Ott, Maximo Roa, Alin Albu-Schäffer, Gerd Hirzinger:
    Bipedal Walking Control based on Capture Point Dynamics
    In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011-09-25 - 2011-09-30, San Francisco, USA, 2011. DOI 10.1109/IROS.2011.6094435. [elib]
  • Dongheui Lee, Christian Ott:
    Incremental Kinesthetic Teaching of Motion Primitives using the Refinement Tub
    Autonomous Robots, vol. 31 (2). Springer, 2011. [elib]
  • Christian Ott, Maximo A. Roa, Gerd Hirzinger:
    Posture and Balance Control for Biped Robots based on Contact Force Optimization
    In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots, 2011-10-26 - 2011-10-28, Bled, Slowenien, 2011. DOI 10.1109/Humanoids.2011.6100882. [elib]
  • Christian Ott, Yoshihiko Nakamura:
    Base Force/Torque Sensing for Position based artesian Impedance Control
    In: Proceedings. IROS, International Conference on Intelligent Robots and Systems, 2009-10-11 - 2009-10-15, St. Louis, USA, 2009. [elib]

 

Zuletzt aktualisiert: Montag, 19. Dezember 2022 von Christian Ott