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Modal Nonlinear Resonance for Efficient and Versatile Legged Locomotion

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Publications

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
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
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, Issue 5/2, 2020, Page(s) 1231-1238, ISSN 2377-3766
DOI: 10.1109/lra.2020.2967315

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
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
DOI: 10.1109/lcsys.2020.3046538

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
DOI: 10.1371/journal.pone.0238586

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
DOI: 10.1109/aero47225.2020.9172301

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
DOI: 10.1109/icra.2019.8793920