Publications Conference proceedings (14) 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, Issue 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, Issue October 2019, 2019 Publisher: IEEE DOI: 10.1109/humanoids43949.2019.9035053 Quadrupedal template model for parametric stability analysis of trotting gaits Author(s): Boffa, Lorenzo; Sesselmann, Anna; Roa Garzon, Máximo Alejandro Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2021, Page(s) 916-922, ISBN 978-1-6654-1715-0 Publisher: IEEE DOI: 10.1109/iros51168.2021.9635974 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, Issue 07.03.2020, 2020, Page(s) 1-8, ISBN 978-1-7281-2734-7 Publisher: IEEE DOI: 10.1109/aero47225.2020.9172301 Single-Leg Forward Hopping via Nonlinear Modes Author(s): Calzolari, Davide; Della Santina, Cosimo; Giordano, Alessandro Massimo; Albu-Schäffer, Alin Olimpiu Published in: ACC, American Control Conference, Issue Proceedings, 2022, Page(s) 506-513, ISBN 978-1-6654-5196-3 Publisher: IEEE DOI: 10.23919/acc53348.2022.9867538 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, Issue Juli 2020, 2020 Publisher: RSS Foundation Planning Natural Locomotion for Articulated Soft Quadrupeds Author(s): Mathew Jose Pollayil; Cosimo Della Santina; George Mesesan; Johannes Englsberger; Daniel Seidel; Manolo Garabini; Christian Ott; Antonio Bicchi; Alin Albu-Schaffer Published in: ICRA, 2022 International Conference on Robotics and Automation, 2022, Page(s) 6593-6599, ISBN 978-1-7281-9682-4 Publisher: IEEE DOI: 10.1109/icra46639.2022.9812416 Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions Author(s): Fabian Beck, Maximilian Rehermann, Johann Reger, Christian Ott Published in: Humanoids, 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Issue Proceedings, 2022, Page(s) 261-268, ISSN 2164-0580 Publisher: IEEE DOI: 10.1109/humanoids53995.2022.10000146 EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems Author(s): Andre Coelho; Alin Albu-Schäffer; Arne Sachtler; Hrishik Mishra; Davide Bicego; Christian Ott; Antonio Franchi Published in: CDC, 2022 IEEE 61st Conference on Decision and Control, 2022, Page(s) 2437-2442, ISBN 978-1-6654-6762-9 Publisher: IEEE DOI: 10.1109/cdc51059.2022.9992915 Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case Author(s): Annika Schmidt; Thomas Gumpert; Stefan Schreiber; Alin Albu-Schäffer Published in: AIM, IEEE/ASME, International Conference on Advanced Intelligent Mechatronics, 2022, Page(s) 1144-1151, ISBN 978-1-6654-1309-1 Publisher: AIM, IEEE/ASME DOI: 10.1109/aim52237.2022.9863397 Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling Author(s): Della Santina, D. Lakatos, A. Bicchi, A. Albu-Schäffer Published in: CDC, IEEE Conference on Decision and Contro, 2021, Page(s) 2448-2455, ISSN 2589-0042 Publisher: IEEE DOI: 10.1109/cdc45484.2021.9683228 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), Issue 12 August 2019, 2019, Page(s) 9509-9515, ISBN 978-1-5386-6027-0 Publisher: IEEE DOI: 10.1109/icra.2019.8793920 An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots Author(s): Christian Ott, Fabian Beck, Manuel Keppler Published in: SYROCO, 13th IFAC Symposium on Robot Control, Issue Proceedings, 2022, Page(s) 113–119, ISSN 2405-8963 Publisher: IFAC DOI: 10.1016/j.ifacol.2023.01.142 Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits Author(s): Delfatti, Federico; Sesselmann, Anna; Roa Garzon, Máximo Alejandro Published in: IROS, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue Proceedings, 2022, Page(s) 5869-5876, ISBN 978-1-6654-7927-1 Publisher: IEEE DOI: 10.1109/iros47612.2022.9982204 Peer reviewed articles (20) A review on nonlinear modes in conservative mechanical systems Author(s): Alin Albu-Schäffer, Cosimo Della Santina Published in: Annual Reviews in Control, Issue 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, Issue 22 December 2020, 2020, Page(s) 1-1, ISSN 2475-1456 Publisher: IEEE DOI: 10.1109/lcsys.2020.3048228 Redundancy Resolution at Position Level Author(s): Alin Albu-Schäffer; Arne Sachtler Published in: IEEE Transactions on Robotics, Issue vol. 39, no. 6, 2023, Page(s) 4240-4261, ISSN 1552-3098 Publisher: Institute of Electrical and Electronics Engineers DOI: 10.1109/tro.2023.3309097 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, Issue 5/2, 2020, Page(s) 1231-1238, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2020.2967315 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, Issue vol. 7, 2023, Page(s) 217-222, ISSN 2475-1456 Publisher: IEEE DOI: 10.1109/lcsys.2022.3187345 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, Issue vol. 6, no. 2, 2021, Page(s) 2555-2562, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3061345 From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots Author(s): Manuel Keppler, Christian Ott, Alin Albu‐Schäffer Published in: International Journal of Robust and Nonlinear Control, Issue Volume 32, Issue 9, 2022, Page(s) 5453-5484, ISSN 1099-1239 Publisher: John Wiley & Sons DOI: 10.1002/rnc.6102 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, Issue 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, Issue 22. December 2020, 2020, Page(s) 1-1, ISSN 2475-1456 Publisher: IEEE DOI: 10.1109/lcsys.2020.3046538 Robust stabilization of elastic joint robots by ESP and PID control: theory and experiments Author(s): Manuel Keppler, Clara Raschel, David Wandinger, Andreas Stemmer, Christian Ott Published in: IEEE Robotics and Automation Letters, Issue vol. 7, no. 3, 2022, Page(s) 8283-8290, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3187277 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, Issue 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, Issue 15/9, 2020, Page(s) e0238586, ISSN 1932-6203 Publisher: Public Library of Science DOI: 10.1371/journal.pone.0238586 Surfaces for Ultrasound Scanning Using Discrete Differential Geometry Author(s): M. Dyck, A. Sachtler, J. Klodmann, A. Albu-Schäffer Published in: Robotics and Automation Letters, Issue Vol. 7, No. 3, 2022, Page(s) 7738-7746, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3184800 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, Issue vol. 6, no. 2, 2021, Page(s) 1910-1917, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3061303 Model Predictive Control Applied to Different Time-Scale Dynamics of Flexible Joint Robots Author(s): Maged Iskandar; Christiaan van Ommeren; Xuwei Wu; Alin Albu-Schaffer; Alexander Dietrich Published in: IEEE Robotics and Automation Letters, Issue vol. 8 (2), 2022, Page(s) 672-679, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3229226 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, Issue 07.01.2022, 2022, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2022.3141156 Emerging Gaits for a Quadrupedal Template Model With Segmented Legs Author(s): Boffa, Lorenzo; Sesselmann, Anna; Roa Garzon, Máximo Alejandro Published in: Journal of Mechanisms and Robotics, Issue Volume 15, Issue 3, 2023, Page(s) 12, ISSN 1942-4302 Publisher: American Society of Mechanical Engineers DOI: 10.1115/1.4062388 A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement Author(s): Jens Reinecke; Alexander Dietrich; Anton Shu; Bastian Deutschmann; Marco Hutter Published in: IEEE Robotics and Automation Letters, Issue vol. 7, no. 1, 2022, Page(s) 9-16, ISSN 2377-3766 Publisher: IEEE DOI: 10.1109/lra.2021.3117245 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, Issue 15, 2021, Page(s) 169, ISSN 1662-5218 Publisher: Frontiers Research Foundation DOI: 10.3389/fnbot.2021.762431 Book chapters (1) 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 Other (1) Diversified physiological sensory input connectivity questions the existence of distinct classes of spinal interneurons Author(s): M. Kohler, F. Bengtsson, P. Stratmann, F. Röhrbein, A. Knoll, A. Albu-Schäffer, H. Jörntell Published in: iScience, Issue Volume 25, Issue 4, 2022 Publisher: Elsevier DOI: 10.1016/j.isci.2022.104083 Thesis and dissertations (1) From Underactuation to Quasi-Full Actuation Author(s): Manuel Keppler Published in: 2023 Publisher: TUM, Technical University of Munich Searching for OpenAIRE data... There was an error trying to search data from OpenAIRE No results available
