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Staff

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Christian Ott

DLR German Aerospace Center
Institute of Robotics and Mechatronics
Analysis and Control of Advanced Robotic Systems
Oberpfaffenhofen
Muenchener Str. 20
82234 Wessling

telephone: +49 8153 28-3464
email: Christian Ott

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)

  • 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, 12-14 Dec 2023, 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), 12-14 Dec 2023, 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), 1-5 Oct 2023, 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), 1-5 Oct 2023, 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), 29 May - 2 Jun 2023, 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), 29 May - 2 Jun 2023, 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), 06-09 Dec 2022, Cancún, Mexico, 2023. DOI 10.1109/CDC51059.2022.9992915, ISBN 978-1-6654-6761-2, 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), 28-30 Nov 2022, 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, 28-30 Nov 2022, Ginowan, Japan, 2023. DOI 10.1109/Humanoids53995.2022.10000126, 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), 17-20 Oct 2022, 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), 23-27 May 2022, 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), 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), May 23-27, 2022, 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]
  • 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, 28-30 Nov 2022, Ginowan, Japan, 2022. DOI 10.1109/Humanoids53995.2022.10000146, ISBN 979-835030979-9, ISSN 2164-0572. [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), 23-27 May 2022, 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), 17-20 Oct 2022, 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, 8-10 Jun 2022, 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, 11-13 Oct 2021, 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), 15-18 June 2021, 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]
  • 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, München, Deutschland, 2021. DOI 10.1109/HUMANOIDS47582.2021.9555804, ISBN 978-172819372-4, ISSN 2164-0572. [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), 29 June - 2 July 2021, 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), 30 May-5 June, 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), 24 Oct 2020 - 24 Jan 2021, 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), 14-18 Dec 2020, 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), June 2021, Virtual Conference, 2021. [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, 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, 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), 25-29 October 2020, 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), 31 May 2020 - 31 Aug 2020, 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), 01-03 July 2020, 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]
  • Thomas Hulin, Michael Rothammer, Isabel Tannert, Suraj Giri, Benedikt Pleintinger et 3 al.:
    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), 19.-24. Juli 2020, Copenhagen, Denmark, 2020. DOI 10.1007/978-3-030-49695-1_19, ISBN 978-303060113-3, ISSN 0302-9743. [elib]
  • Ribin Balachandran, Hrishik Mishra, Matteo Cappelli, Bernhard Weber, Cristian Secchi et 2 al.:
    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), 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), 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, 31. Mai. - 31. Aug. 2020, 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, 12-15 May 2020, 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), 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, 12.-16. Jul. 2020, 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, 7.-14. März, 2020, 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, 02-06 December 2019, 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), 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), 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), 10-12 July 2019, 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), 20-24 May 2019, 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), 18-20 September 2019, 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), 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), June 25-28, 2019, 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, 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, 20-25 May 2019, 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), 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), 01.-05-2012018, 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, 27.-30.Aug. 2018, 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), 01 Oct - 05 Oct 2018, 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, 26.-29. Juni 2018, 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), 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, 26 August - 30 August, 2018, 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), 21.-25. Mai, 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), 21-25 May 2018, 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, 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, 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), 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, 12 - 15 Jun 2018, 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, 105 Oct 2018, 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, 27-30 Aug 2018, 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, 16-20 Oct 2018, 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), Madrid, Spain, 2018. DOI 10.1109/iros.2018.8593596, ISBN 978-153868094-0, ISSN 2153-0858. [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, Vancouver, Canada, 2017. DOI 10.1109/iros.2017.8206476. [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), 12-15 Dec. 2017, 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, 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), 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, 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, 24–28 Sept 2017, 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, 29 May - 3 June2017, 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, 29 May - 03 Jun 2017, 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), 29. Mai - 03. Juni 2017, Singapore, 2017. DOI 10.1109/icra.2017.7989471. [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]
  • 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, Daejeon, Korea, 2016. DOI 10.1109/IROS.2016.7759143. [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, 12.-14. Dez. 2016, 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, 12.-15. Dez. 2016, 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, 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, 4.-7. Juli 2016, 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, 06.-08. Jun. 2016, 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, 16-21 MAy 2016, 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, 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]
  • 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, 3.-5. Nov. 2015, 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, 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, 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), May 26-30, 2015, 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, 18.-20. Feb. 2015, 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), 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, Aug 24-27, 2015, 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), 26.-30. Mai 2015, 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, 15-17 Dec 2014, 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), 18. - 20. Nov. 2014, 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, 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, 14.-18. September 2014, 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, 10-12 July 2014, 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, 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), September 14-18, 2014, 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), 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, 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), 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, 03.-08. November 2013, 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, 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, 03-08 Nov 2013, 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, 3.-8. Nov. 2013, 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, 17-19 Jun 2013, 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, 06.-10. Mai 2013, 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, 11-13 Sep 2013, 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. 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), 14 - 18 May 2012, 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, 5.-7. - Sept 2012, 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), 29. Nov. - 1. Dez. 2012, 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, 29. Nov. - 1. Dez. 2012, 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, 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, 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, 18-21 July 2011, 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, San Francisco, USA, 2011. [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, Bled, Slowenien, 2011. [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, 11. Okt. -15. Okt. 2009, St. Louis, USA, 2009. [elib]

 

 

Last updated on Monday, 19 December 2022 by Christian Ott