Research output per year
Research output per year
- 31 results
Search results
-
2024
Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint
Schmidt, A., Pasic, F., Calzolari, D., Sachtler, A., Gumpert, T., Keppler, M. & Albu-Schäffer, A., 2024, 2024 European Control Conference, ECC 2024. Institute of Electrical and Electronics Engineers Inc., p. 2194-2199 6 p. (2024 European Control Conference, ECC 2024).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
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Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots
Pustina, P., Calzolari, D., Albu-Schaffer, A., De Luca, A. & Santina, C. D., 2024, 2024 IEEE 7th International Conference on Soft Robotics, RoboSoft 2024. Institute of Electrical and Electronics Engineers Inc., p. 779-785 7 p. (2024 IEEE 7th International Conference on Soft Robotics, RoboSoft 2024).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
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Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control with Smooth Task Transitions
Wu, X., Albu-Schäffer, A. & Dietrich, A., 2024, 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. Institute of Electrical and Electronics Engineers Inc., p. 15358-15365 8 p. (Proceedings - IEEE International Conference on Robotics and Automation).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access -
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes
Sachtler, A., Calzolari, D., Raff, M., Schmidt, A., Wotte, Y. P., Santina, C. D., Remy, C. D. & Albu-Schäffer, A., 2024, 2024 European Control Conference, ECC 2024. Institute of Electrical and Electronics Engineers Inc., p. 2392-2398 7 p. (2024 European Control Conference, ECC 2024).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access1 Scopus citations -
2023
Energy and angular momentum control of robot running
Giordano, A. M., Stivala, S., Calzolari, D. & Albu-Schaffer, A., 2023, 2023 31st Mediterranean Conference on Control and Automation, MED 2023. Institute of Electrical and Electronics Engineers Inc., p. 554-561 8 p. (2023 31st Mediterranean Conference on Control and Automation, MED 2023).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
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What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots?
Albu-Schäffer, A. & Sachtler, A., 2023, Robotics Research. Billard, A., Asfour, T. & Khatib, O. (eds.). Springer Nature, p. 468-484 17 p. (Springer Proceedings in Advanced Robotics; vol. 27 SPAR).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
4 Scopus citations -
2022
Multi-Phase Multi-Modal Haptic Teleoperation
Muhlbauer, M., Steinmetz, F., Stulp, F., Hulin, T. & Albu-Schaffer, A., 2022, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. Institute of Electrical and Electronics Engineers Inc., p. 7734-7741 8 p. (IEEE International Conference on Intelligent Robots and Systems; vol. 2022-October).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access3 Scopus citations -
Planning Natural Locomotion for Articulated Soft Quadrupeds
Pollayil, M. J., Santina, C. D., Mesesan, G., Englsberger, J., Seidel, D., Garabini, M., Ott, C., Bicchi, A. & Albu-Schaffer, A., 2022, 2022 IEEE International Conference on Robotics and Automation, ICRA 2022. Institute of Electrical and Electronics Engineers Inc., p. 6593-6599 7 p. (Proceedings - IEEE International Conference on Robotics and Automation).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access5 Scopus citations -
Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case
Schmidt, A., Gumpert, T., Schreiber, S. & Albu-Schaffer, A., 2022, 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022. Institute of Electrical and Electronics Engineers Inc., p. 1144-1151 8 p. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; vol. 2022-July).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access -
Single-Leg Forward Hopping via Nonlinear Modes
Calzolari, D., Santina, C. D., Giordano, A. M. & Albu-Schaffer, A., 2022, 2022 American Control Conference, ACC 2022. Institute of Electrical and Electronics Engineers Inc., p. 506-513 8 p. (Proceedings of the American Control Conference; vol. 2022-June).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access5 Scopus citations -
2021
A Sparse Gaussian Approach to Region-Based 6DoF Object Tracking
Stoiber, M., Pfanne, M., Strobl, K. H., Triebel, R. & Albu-Schäffer, A., 2021, Computer Vision – ACCV 2020 - 15th Asian Conference on Computer Vision, 2020, Revised Selected Papers. Ishikawa, H., Liu, C.-L., Pajdla, T. & Shi, J. (eds.). Springer Science and Business Media Deutschland GmbH, p. 666-682 17 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 12623 LNCS).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
12 Scopus citations -
Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg
Sesselmann, A., Loeffl, F., Santina, C. D., Roa, M. A. & Albu-Schaffer, A., 2021, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. Institute of Electrical and Electronics Engineers Inc., p. 1370-1377 8 p. (IEEE International Conference on Intelligent Robots and Systems).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access3 Scopus citations -
PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: The Point-to-Point Case
Calzolari, D., Della Santina, C. & Albu-Schaffer, A., 25 May 2021, 2021 American Control Conference, ACC 2021. Institute of Electrical and Electronics Engineers Inc., p. 4321-4326 6 p. 9482884. (Proceedings of the American Control Conference; vol. 2021-May).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access -
2019
A coordinate-based approach for static balancing and walking control of compliantly actuated legged robots
Lakatos, D., Federigi, Y., Gumpert, T., Henze, B., Hermann, M., Loeffl, F., Schmidt, F., Seidel, D. & Albu-Schaffer, A., May 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., p. 9509-9515 7 p. 8793920. (Proceedings - IEEE International Conference on Robotics and Automation).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
4 Scopus citations -
Combined visual and touch-based sensing for the autonomous registration of objects with circular features
Sachtler, A., Nottensteiner, K., Kaßecker, M. & Albu-Schaffer, A., Dec 2019, 2019 19th International Conference on Advanced Robotics, ICAR 2019. Institute of Electrical and Electronics Engineers Inc., p. 426-433 8 p. 8981602. (2019 19th International Conference on Advanced Robotics, ICAR 2019).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
3 Scopus citations -
Exact modal characterization of the non conservative non linear radial mass spring system
Santina, C. D., Lakatos, D., Bicchi, A. & Albu-Schaeffer, A., May 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., p. 3101-3107 7 p. 8793732. (Proceedings - IEEE International Conference on Robotics and Automation).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
1 Scopus citations -
Experiments with human-inspired behaviors in a humanoid robot: Quasi-static balancing using toe-off motion and stretched knees
Henze, B., Roa, M. A., Werner, A., Dietrich, A., Ott, C. & Albu-Schaffer, A., May 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., p. 2510-2516 7 p. 8794096. (Proceedings - IEEE International Conference on Robotics and Automation).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access12 Scopus citations -
2018
Inferring Semantic State Transitions During Telerobotic Manipulation
Bauer, A. S., Schmaus, P., Albu-Schäffer, A. & Leidner, D., 27 Dec 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., p. 5517-5524 8 p. 8594458. (IEEE International Conference on Intelligent Robots and Systems).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access9 Scopus citations -
Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots
Keppler, M., Lakatos, D., Werner, A., Loeffl, F., Ott, C. & Albu-Schäffer, A., 27 Nov 2018, 2018 European Control Conference, ECC 2018. Institute of Electrical and Electronics Engineers Inc., p. 255-260 6 p. 8550200. (2018 European Control Conference, ECC 2018).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access2 Scopus citations -
Workspace Fixation for Free-Floating Space Robot Operations
Giordano, A. M., Calzolari, D. & Albu-Schaffer, A., 10 Sep 2018, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., p. 889-896 8 p. 8460478. (Proceedings - IEEE International Conference on Robotics and Automation).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access17 Scopus citations -
2017
Momentum dumping for space robots
Giordano, A. M., Garofalo, G. & Albu-Schaffer, A., 28 Jun 2017, 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Institute of Electrical and Electronics Engineers Inc., p. 5243-5248 6 p. (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; vol. 2018-January).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access14 Scopus citations -
2016
A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots
Keppler, M., Lakatos, D., Ott, C. & Albu-Schäffer, A., 8 Jun 2016, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., p. 1079-1086 8 p. 7487239. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2016-June).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access27 Scopus citations -
A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots
Keppler, M., Lakatos, D., Ott, C. & Albu-Schäffer, A., 27 Dec 2016, 2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., p. 1521-1528 8 p. 7798482. (2016 IEEE 55th Conference on Decision and Control, CDC 2016).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access17 Scopus citations -
Dynamic bipedal walking by controlling only the equilibrium of intrinsic elasticities
Lakatos, D., Albu-Schäffer, A., Rode, C. & Loeffl, F., 30 Dec 2016, Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots. IEEE Computer Society, p. 1282-1289 8 p. 7803435. (IEEE-RAS International Conference on Humanoid Robots).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access6 Scopus citations -
Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta
Giordano, A. M., Garofalo, G., De Stefano, M., Ott, C. & Albu-Schaffer, A., 27 Dec 2016, 2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., p. 7527-7534 8 p. 7799432. (2016 IEEE 55th Conference on Decision and Control, CDC 2016).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access33 Scopus citations -
Robotic simulation of on orbit servicing including hard impacts
Lange, F., Grunwald, G. & Albu-Schäffer, A., 28 Nov 2016, IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 2992-2997 6 p. 7759463. (IEEE International Conference on Intelligent Robots and Systems; vol. 2016-November).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access1 Scopus citations -
2015
Classifying compliant manipulation tasks for automated planning in robotics
Leidner, D., Borst, C., Dietrich, A., Beetz, M. & Albu-Schaffer, A., 11 Dec 2015, IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 1769-1776 8 p. 7353607. (IEEE International Conference on Intelligent Robots and Systems; vol. 2015-December).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access31 Scopus citations -
Overview of the torque-controlled humanoid robot TORO
Englsberger, J., Werner, A., Ott, C., Henze, B., Roa, M. A., Garofalo, G., Burger, R., Beyer, A., Eiberger, O., Schmid, K. & Albu-Schäffer, A., 12 Feb 2015, 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014. IEEE Computer Society, p. 916-923 8 p. 7041473. (IEEE-RAS International Conference on Humanoid Robots; vol. 2015-February).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access206 Scopus citations -
Passivity of virtual free-floating dynamics rendered on robotic facilities
De Stefano, M., Artigas, J., Rackl, W. & Albu-Schaeffer, A., 29 Jun 2015, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc., p. 781-788 8 p. 7139267. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2015-June, no. June).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access15 Scopus citations -
Targeted jumping of compliantly actuated hoppers based on discrete planning and switching control
Lakatos, D., Seidel, D., Friedl, W. & Albu-Schaffer, A., 11 Dec 2015, IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., p. 5802-5808 7 p. 7354201. (IEEE International Conference on Intelligent Robots and Systems; vol. 2015-December).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
Open Access8 Scopus citations -
2006
ROKVISS - Robotics component verification on ISS current experimental results on parameter identification
Albu-Schäffer, A., Bertleff, W., Rebele, B., Schäfer, B., Landzettel, K. & Hirzinger, G., 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. p. 3879-3885 7 p. 1642296. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2006).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
59 Scopus citations