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Modal Nonlinear Resonance for Efficient and Versatile Legged Locomotion

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Publications

Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg

Author(s): A. Sesselmann, F. Loeffl, C. Della Santina, M. Roa Garzon, A. Albu-Schäffer
Published in: IROS, IEEE/RSJ International Conference on Intelligent Robots and Systems, September 2021, 2021
Publisher: IEEE

Dynamic Development and Qualification of a Modular using DCM and Passivity-based Whole-body Control

Author(s): G. Mesesan, J. Englsberger, G. Garofalo, C. Ott, A. Albu-Schäffer
Published in: RAS International Conference on Humanoid Robots, October 2019, 2019
Publisher: IEEE
DOI: 10.1109/humanoids43949.2019.9035053

Using Elastically Actuated Legged Robots in Rough Terrain: Experiments with DLR Quadruped bert

Author(s): Daniel Seidel, Milan Hermann, Thomas Gumpert, Florian C. Loeffl, Alin Albu-Schaffer
Published in: 2020 IEEE Aerospace Conference, 07.03.2020, 2020, Page(s) 1-8, ISBN 978-1-7281-2734-7
Publisher: IEEE
DOI: 10.1109/aero47225.2020.9172301

MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks

Author(s): J. Englsberger, A. Dietrich, G. Mesesan, C. Ott, A. Albu-Schäffer
Published in: RSS, Robotics: Science and Systems, Juli 2020, 2020
Publisher: RSS Foundation

A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots

Author(s): Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl, Florian Schmidt, Daniel Seidel, Alin Albu-Schaffer
Published in: 2019 International Conference on Robotics and Automation (ICRA), 12 August 2019, 2019, Page(s) 9509-9515, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8793920

A review on nonlinear modes in conservative mechanical systems

Author(s): Alin Albu-Schäffer, Cosimo Della Santina
Published in: Annual Reviews in Control, 50, 2020, Page(s) 49-71, ISSN 1367-5788
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.arcontrol.2020.10.002

Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Author(s): Cosimo Della Santina, Alin Albu-Schaeffer
Published in: IEEE Control Systems Letters, 22 December 2020, 2020, Page(s) 1-1, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3048228

Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic

Author(s): Davide Calzolari, Alessandro Massimo Giordano, Alin Albu-Schaffer
Published in: IEEE Robotics and Automation Letters, 5/2, 2020, Page(s) 1231-1238, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2967315

Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case

Author(s): L. Bonacchi, M. Roa, A. Sesselmann, F. Loeffl, A. Albu-Schäffer, C. Della Santina
Published in: Robotics and Automation Letters, vol. 6, no. 2, 2021, Page(s) 2555-2562, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061345

Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia

Author(s): Davide Calzolari, Cosimo Della Santina, Alin Albu-Schaffer
Published in: IEEE Control Systems Letters, 5/2, 2021, Page(s) 445-450, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3004196

PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case

Author(s): Davide Calzolari, Cosimo Della Santina, Alin Albu-Schaffer
Published in: IEEE Control Systems Letters, 22. December 2020, 2020, Page(s) 1-1, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3046538

Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions

Author(s): C. Della Santina, D. Calzolari, A. Giordano, A. Albu-Schäffer
Published in: Robotics and Automation Letters, vol. 6, no. 2, 2021, Page(s) 2783-2790, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061391

Strict Modes Everywhere - Bringing Order into Dynamics of Mechanical Systems by a Potential Compatible with the Geodesic Flow

Author(s): A. Sachtler, A. Albu-Schäffer
Published in: Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3142921

Biological data questions the support of the self inhibition required for pattern generation in the half center model

Author(s): Matthias Kohler, Philipp Stratmann, Florian Röhrbein, Alois Knoll, Alin Albu-Schäffer, Henrik Jörntell
Published in: PLOS ONE, 15/9, 2020, Page(s) e0238586, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0238586

Strict Nonlinear Normal Modes of Systems Characterized by Scalar Functions on Riemannian Manifolds

Author(s): A. Albu-Schäffer, D. Lakatos, S. Stramigioli
Published in: Robotics and Automation Letters, vol. 6, no. 2, 2021, Page(s) 1910-1917, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061303

Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot

Author(s): F. Bjelonic, A. Sachtler, A. Albu-Schaffer, C. Della Santina
Published in: IEEE ROBOTICS AND AUTOMATION LETTERS, 07.01.2022, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3141156

Adapting Highly-Dynamic Compliant Movements to Changing Environments: A Benchmark Comparison of Reflex- vs. CPG-Based Control Strategies

Author(s): A. Schmidt, B. Feldotto, T. Gumpert, D. Seidel, A. Albu-Schäffer, P. Stratmann
Published in: Frontiers in Neurorobotics, 15, 2021, Page(s) 169, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2021.762431

Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots

Author(s): C. Della Santina, D. Lakatos, A. Bicchi, A. Albu-Schäffer
Published in: Experimental Robotics, 2021, Page(s) 566-575, ISBN 978-3-030-71150-4
Publisher: Springer Nature
DOI: 10.1007/978-3-030-71151-1_50