Utilizing Natural Dynamics for Reliable Legged Locomotion

Pubblicazioni

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

Autori: George Mesesan, Johannes Englsberger, Christian Ott
Pubblicato in: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Pagina/e 12780-12786, ISBN 978-1-7281-9077-8
Editore: IEEE
DOI: 10.1109/icra48506.2021.9560808

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

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

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

Autori: Christian Ott; Fabian Beck; Manuel Keppler
Pubblicato in: IFAC Symposium on Robot Control (SYROCO), Numero 17, 2022, ISSN 2405-8971
Editore: Elsevier
DOI: 10.1016/j.ifacol.2023.01.142

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

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

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

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

Control of a Class of Underactuated Systems by Successive Submanifold Stabilization

Autori: Fabian Beck, Noboru Sakamoto, Christian Ott
Pubblicato in: IFAC PapersOnline, 2021, ISSN 2405-8963
Editore: Elsevier

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

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

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

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

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

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

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

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

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

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

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

Autori: Gianluca Garofalo, Christian Ott
Pubblicato in: IEEE Robotics and Automation Letters, Numero 5/4, 2020, Pagina/e 6153-6160, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.3010449

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

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

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

Autori: Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott
Pubblicato in: IEEE Robotics and Automation Letters, Numero 6/3, 2021, Pagina/e 5689-5696, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3082023

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

Autori: Gianluca Garofalo, Xuwei Wu, Christian Ott
Pubblicato in: IEEE Robotics and Automation Letters, Numero 6/4, 2021, Pagina/e 7129-7136, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3095930

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

Autori: Min Jun Kim, Alexander Werner, Florian Loeffl, Christian Ott
Pubblicato in: IEEE Transactions on Robotics, Numero Vol. 38, No. 1, 2022, Pagina/e 584-598, ISSN 1552-3098
Editore: 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

Autori: Harder, Marie Christin; Keppler, Manuel; Meng, Xuming; Ott, Christian; Höppner, Hannes; Dietrich, Alexander
Pubblicato in: Robotics and Automation Letters, Numero 1, 2022, ISSN 2377-3766
Editore: IEEE

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

Autori: Manuel Keppler, Florian Loeffl, David Wandinger, Clara Raschel, Christian Ott
Pubblicato in: IEEE Robotics and Automation Letters, Numero 6/4, 2021, Pagina/e 7121-7128, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3097079

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

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

È in corso la ricerca di dati su OpenAIRE...

Pubblicazioni

Condividi questa pagina

Scarica