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Utilizing Natural Dynamics for Reliable Legged Locomotion

Publications

Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion

Author(s): George Mesesan, Johannes Englsberger, Christian Ott
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Page(s) 12780-12786, ISBN 978-1-7281-9077-8
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9560808

Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control

Author(s): Shengzhi Wang, George Mesesan, Johannes Englsberger, Dongheui Lee, Christian Ott
Published in: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021, Page(s) 112-119, ISBN 978-1-7281-9372-4
Publisher: IEEE
DOI: 10.1109/humanoids47582.2021.9555676

An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots

Author(s): Christian Ott; Fabian Beck; Manuel Keppler
Published in: IFAC Symposium on Robot Control (SYROCO), Issue 17, 2022, ISSN 2405-8971
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.01.142

Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control

Author(s): George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
Published in: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019
Publisher: IEEE
DOI: 10.1109/humanoids43949.2019.9035053

Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots

Author(s): Juan Miguel Garcia-Haro, Bernd Henze, George Mesesan, Santiago Martinez, Christian Ott
Published in: 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, Page(s) 644-650, ISBN 978-1-5386-7630-1
Publisher: IEEE
DOI: 10.1109/humanoids43949.2019.9035010

Control of a Class of Underactuated Systems by Successive Submanifold Stabilization

Author(s): Fabian Beck, Noboru Sakamoto, Christian Ott
Published in: IFAC PapersOnline, 2021, ISSN 2405-8963
Publisher: Elsevier

Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions

Author(s): Tobias Egle, Johannes Englsberger, Christian Ott
Published in: International Conference on Humanoid Robots (Humanoids), 2022, ISBN 979-8-3503-0980-5
Publisher: IEEE
DOI: 10.1109/humanoids53995.2022.10000236

Online Learning of Centroidal Angular Momentum Towards Enhancing DCM-Based Locomotion

Author(s): Schuller, Robert; Mesesan, George-Adrian; Englsberger, Johannes; Lee, Jinoh; Ott, Christian
Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 13, 2022, ISBN 978-1-7281-9682-4
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9811708

A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion

Author(s): Konrad Frund; Anton Leonhard Shu; Florian Christoph Loeffl; Christian Ott
Published in: IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Issue 20, 2022, ISBN 979-8-3503-0980-5
Publisher: IEEE
DOI: 10.1109/humanoids53995.2022.10000126

Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions

Author(s): Fabian Beck, Maximilian Rehermann, Christian Ott
Published in: IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022, ISBN 979-8-3503-0980-5
Publisher: IEEE
DOI: 10.1109/humanoids53995.2022.10000146

Passivity-based Motion and Force Tracking Control for Constrained Elastic Joint Robots

Author(s): Xuming Meng, Manuel Keppler, Christian Ott
Published in: IEEE Control Systems Letters (L-CSS), 2022, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2022.3187345

Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds

Author(s): Gianluca Garofalo, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 6153-6160, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3010449

Agile and Dynamic Standing-up Control for Humanoids using 3D DivergentComponent of Motion in Multi-contact Scenario

Author(s): Grazia Zambella, Robert Schuller, George Mesesan, Antonio Bicchi, Christian Ott, Jinoh Lee
Published in: Robotics and Automation Letters (RA-L), 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3297060

Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery

Author(s): Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 6/3, 2021, Page(s) 5689-5696, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3082023

Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators

Author(s): Gianluca Garofalo, Xuwei Wu, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 6/4, 2021, Page(s) 7129-7136, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3095930

Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control

Author(s): Min Jun Kim, Alexander Werner, Florian Loeffl, Christian Ott
Published in: IEEE Transactions on Robotics, Issue Vol. 38, No. 1, 2022, Page(s) 584-598, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3071617

Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators

Author(s): Harder, Marie Christin; Keppler, Manuel; Meng, Xuming; Ott, Christian; Höppner, Hannes; Dietrich, Alexander
Published in: Robotics and Automation Letters, Issue 1, 2022, ISSN 2377-3766
Publisher: IEEE

Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control

Author(s): Manuel Keppler, Florian Loeffl, David Wandinger, Clara Raschel, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue 6/4, 2021, Page(s) 7121-7128, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3097079

Unified Motion Planner for Walking, Running, and Jumping Using theThree-Dimensional Divergent Component of Motion

Author(s): George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
Published in: IEEE Transactions on Robotics (TRO), 2023, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3321396

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