Modal Nonlinear Resonance for Efficient and Versatile Legged Locomotion

Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg

Autores: A. Sesselmann, F. Loeffl, C. Della Santina, M. Roa Garzon, A. Albu-Schäffer
Publicado en: IROS, IEEE/RSJ International Conference on Intelligent Robots and Systems, Edición September 2021, 2021
Editor: IEEE

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

Autores: G. Mesesan, J. Englsberger, G. Garofalo, C. Ott, A. Albu-Schäffer
Publicado en: RAS International Conference on Humanoid Robots, Edición October 2019, 2019
Editor: IEEE
DOI: 10.1109/humanoids43949.2019.9035053

Quadrupedal template model for parametric stability analysis of trotting gaits

Autores: Boffa, Lorenzo; Sesselmann, Anna; Roa Garzon, Máximo Alejandro
Publicado en: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2021, Página(s) 916-922, ISBN 978-1-6654-1715-0
Editor: IEEE
DOI: 10.1109/iros51168.2021.9635974

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

Autores: Daniel Seidel, Milan Hermann, Thomas Gumpert, Florian C. Loeffl, Alin Albu-Schaffer
Publicado en: 2020 IEEE Aerospace Conference, Edición 07.03.2020, 2020, Página(s) 1-8, ISBN 978-1-7281-2734-7
Editor: IEEE
DOI: 10.1109/aero47225.2020.9172301

Single-Leg Forward Hopping via Nonlinear Modes

Autores: Calzolari, Davide; Della Santina, Cosimo; Giordano, Alessandro Massimo; Albu-Schäffer, Alin Olimpiu
Publicado en: ACC, American Control Conference, Edición Proceedings, 2022, Página(s) 506-513, ISBN 978-1-6654-5196-3
Editor: IEEE
DOI: 10.23919/acc53348.2022.9867538

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

Autores: J. Englsberger, A. Dietrich, G. Mesesan, C. Ott, A. Albu-Schäffer
Publicado en: RSS, Robotics: Science and Systems, Edición Juli 2020, 2020
Editor: RSS Foundation

Planning Natural Locomotion for Articulated Soft Quadrupeds

Autores: Mathew Jose Pollayil; Cosimo Della Santina; George Mesesan; Johannes Englsberger; Daniel Seidel; Manolo Garabini; Christian Ott; Antonio Bicchi; Alin Albu-Schaffer
Publicado en: ICRA, 2022 International Conference on Robotics and Automation, 2022, Página(s) 6593-6599, ISBN 978-1-7281-9682-4
Editor: IEEE
DOI: 10.1109/icra46639.2022.9812416

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

Autores: Fabian Beck, Maximilian Rehermann, Johann Reger, Christian Ott
Publicado en: Humanoids, 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Edición Proceedings, 2022, Página(s) 261-268, ISSN 2164-0580
Editor: IEEE
DOI: 10.1109/humanoids53995.2022.10000146

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems

Autores: Andre Coelho; Alin Albu-Schäffer; Arne Sachtler; Hrishik Mishra; Davide Bicego; Christian Ott; Antonio Franchi
Publicado en: CDC, 2022 IEEE 61st Conference on Decision and Control, 2022, Página(s) 2437-2442, ISBN 978-1-6654-6762-9
Editor: IEEE
DOI: 10.1109/cdc51059.2022.9992915

Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case

Autores: Annika Schmidt; Thomas Gumpert; Stefan Schreiber; Alin Albu-Schäffer
Publicado en: AIM, IEEE/ASME, International Conference on Advanced Intelligent Mechatronics, 2022, Página(s) 1144-1151, ISBN 978-1-6654-1309-1
Editor: AIM, IEEE/ASME
DOI: 10.1109/aim52237.2022.9863397

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

Autores: Della Santina, D. Lakatos, A. Bicchi, A. Albu-Schäffer
Publicado en: CDC, IEEE Conference on Decision and Contro, 2021, Página(s) 2448-2455, ISSN 2589-0042
Editor: IEEE
DOI: 10.1109/cdc45484.2021.9683228

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

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

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

Autores: Christian Ott, Fabian Beck, Manuel Keppler
Publicado en: SYROCO, 13th IFAC Symposium on Robot Control, Edición Proceedings, 2022, Página(s) 113–119, ISSN 2405-8963
Editor: IFAC
DOI: 10.1016/j.ifacol.2023.01.142

Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits

Autores: Delfatti, Federico; Sesselmann, Anna; Roa Garzon, Máximo Alejandro
Publicado en: IROS, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edición Proceedings, 2022, Página(s) 5869-5876, ISBN 978-1-6654-7927-1
Editor: IEEE
DOI: 10.1109/iros47612.2022.9982204

A review on nonlinear modes in conservative mechanical systems

Autores: Alin Albu-Schäffer, Cosimo Della Santina
Publicado en: Annual Reviews in Control, Edición 50, 2020, Página(s) 49-71, ISSN 1367-5788
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.arcontrol.2020.10.002

Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Autores: Cosimo Della Santina, Alin Albu-Schaeffer
Publicado en: IEEE Control Systems Letters, Edición 22 December 2020, 2020, Página(s) 1-1, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2020.3048228

Redundancy Resolution at Position Level

Autores: Alin Albu-Schäffer; Arne Sachtler
Publicado en: IEEE Transactions on Robotics, Edición vol. 39, no. 6, 2023, Página(s) 4240-4261, ISSN 1552-3098
Editor: 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

Autores: Davide Calzolari, Alessandro Massimo Giordano, Alin Albu-Schaffer
Publicado en: IEEE Robotics and Automation Letters, Edición 5/2, 2020, Página(s) 1231-1238, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.2967315

Passivity-based motion and force tracking control for constrained elastic joint robots

Autores: Xuming Meng, Manuel Keppler, Christian Ott
Publicado en: IEEE Control Systems Letters, Edición vol. 7, 2023, Página(s) 217-222, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2022.3187345

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

Autores: L. Bonacchi, M. Roa, A. Sesselmann, F. Loeffl, A. Albu-Schäffer, C. Della Santina
Publicado en: Robotics and Automation Letters, Edición vol. 6, no. 2, 2021, Página(s) 2555-2562, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3061345

From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots

Autores: Manuel Keppler, Christian Ott, Alin Albu‐Schäffer
Publicado en: International Journal of Robust and Nonlinear Control, Edición Volume 32, Edición 9, 2022, Página(s) 5453-5484, ISSN 1099-1239
Editor: John Wiley & Sons
DOI: 10.1002/rnc.6102

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

Autores: Davide Calzolari, Cosimo Della Santina, Alin Albu-Schaffer
Publicado en: IEEE Control Systems Letters, Edición 5/2, 2021, Página(s) 445-450, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2020.3004196

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

Autores: Davide Calzolari, Cosimo Della Santina, Alin Albu-Schaffer
Publicado en: IEEE Control Systems Letters, Edición 22. December 2020, 2020, Página(s) 1-1, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2020.3046538

Robust stabilization of elastic joint robots by ESP and PID control: theory and experiments

Autores: Manuel Keppler, Clara Raschel, David Wandinger, Andreas Stemmer, Christian Ott
Publicado en: IEEE Robotics and Automation Letters, Edición vol. 7, no. 3, 2022, Página(s) 8283-8290, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3187277

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

Autores: C. Della Santina, D. Calzolari, A. Giordano, A. Albu-Schäffer
Publicado en: Robotics and Automation Letters, Edición vol. 6, no. 2, 2021, Página(s) 2783-2790, ISSN 2377-3766
Editor: 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

Autores: A. Sachtler, A. Albu-Schäffer
Publicado en: Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: 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

Autores: Matthias Kohler, Philipp Stratmann, Florian Röhrbein, Alois Knoll, Alin Albu-Schäffer, Henrik Jörntell
Publicado en: PLOS ONE, Edición 15/9, 2020, Página(s) e0238586, ISSN 1932-6203
Editor: Public Library of Science
DOI: 10.1371/journal.pone.0238586

Surfaces for Ultrasound Scanning Using Discrete Differential Geometry

Autores: M. Dyck, A. Sachtler, J. Klodmann, A. Albu-Schäffer
Publicado en: Robotics and Automation Letters, Edición Vol. 7, No. 3, 2022, Página(s) 7738-7746, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3184800

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

Autores: A. Albu-Schäffer, D. Lakatos, S. Stramigioli
Publicado en: Robotics and Automation Letters, Edición vol. 6, no. 2, 2021, Página(s) 1910-1917, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3061303

Model Predictive Control Applied to Different Time-Scale Dynamics of Flexible Joint Robots

Autores: Maged Iskandar; Christiaan van Ommeren; Xuwei Wu; Alin Albu-Schaffer; Alexander Dietrich
Publicado en: IEEE Robotics and Automation Letters, Edición vol. 8 (2), 2022, Página(s) 672-679, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3229226

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

Autores: F. Bjelonic, A. Sachtler, A. Albu-Schaffer, C. Della Santina
Publicado en: IEEE ROBOTICS AND AUTOMATION LETTERS, Edición 07.01.2022, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3141156

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Autores: Boffa, Lorenzo; Sesselmann, Anna; Roa Garzon, Máximo Alejandro
Publicado en: Journal of Mechanisms and Robotics, Edición Volume 15, Edición 3, 2023, Página(s) 12, ISSN 1942-4302
Editor: 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

Autores: Jens Reinecke; Alexander Dietrich; Anton Shu; Bastian Deutschmann; Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición vol. 7, no. 1, 2022, Página(s) 9-16, ISSN 2377-3766
Editor: 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

Autores: A. Schmidt, B. Feldotto, T. Gumpert, D. Seidel, A. Albu-Schäffer, P. Stratmann
Publicado en: Frontiers in Neurorobotics, Edición 15, 2021, Página(s) 169, ISSN 1662-5218
Editor: Frontiers Research Foundation
DOI: 10.3389/fnbot.2021.762431

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

Autores: C. Della Santina, D. Lakatos, A. Bicchi, A. Albu-Schäffer
Publicado en: Experimental Robotics, 2021, Página(s) 566-575, ISBN 978-3-030-71150-4
Editor: Springer Nature
DOI: 10.1007/978-3-030-71151-1_50

Diversified physiological sensory input connectivity questions the existence of distinct classes of spinal interneurons

Autores: M. Kohler, F. Bengtsson, P. Stratmann, F. Röhrbein, A. Knoll, A. Albu-Schäffer, H. Jörntell
Publicado en: iScience, Edición Volume 25, Edición 4, 2022
Editor: Elsevier
DOI: 10.1016/j.isci.2022.104083

From Underactuation to Quasi-Full Actuation

Autores: Manuel Keppler
Publicado en: 2023
Editor: TUM, Technical University of Munich

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