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ORCIDAlin Albu-Schäffer
Alin Olimpiu Albu-Schäffer
Person information
- affiliation: TU Munich, Faculty of Computer Science
- affiliation: German Aerospace Center (DLR), Institute of Robotics and Mechatronics
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2020 – today
- 2023
[j95]Michael Rothammer
, Andre Coelho, Hrishik Mishra, Christian Ott, Antonio Franchi, Alin Albu-Schäffer:
A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework. IEEE Control. Syst. Lett. 7: 163-168 (2023)- [j94]Maged Iskandar, Christiaan van Ommeren, Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich:
Model Predictive Control Applied to Different Time-Scale Dynamics of Flexible Joint Robots. IEEE Robotics Autom. Lett. 8(2): 672-679 (2023) - [j93]Xuwei Wu, Christian Ott, Alin Albu-Schäffer, Alexander Dietrich:
Passive Decoupled Multitask Controller for Redundant Robots. IEEE Trans. Control. Syst. Technol. 31(1): 1-16 (2023) - [i10]Alistair Weld, Michael Dyck, Julian Klodmann, Giulio Anichini, Luke Dixon, Sophie Camp, Alin Albu-Schäffer, Stamatia Giannarou:
Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery. CoRR abs/2301.08174 (2023) - 2022
- [j92]Florian S. Lay, Adrian Simon Bauer, Alin Albu-Schäffer, Freek Stulp, Daniel Leidner:
Unsupervised symbol emergence for supervised autonomy using multi-modal latent Dirichlet allocations. Adv. Robotics 36(1-2): 71-84 (2022) - [j91]Manuel Stoiber, Martin Pfanne, Klaus H. Strobl, Rudolph Triebel, Alin Albu-Schäffer:
SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World. Int. J. Comput. Vis. 130(4): 1008-1030 (2022) - [j90]Filip Bjelonic, Arne Sachtler, Alin Albu-Schäffer, Cosimo Della Santina:
Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot. IEEE Robotics Autom. Lett. 7(2): 1689-1696 (2022) - [j89]Arne Sachtler, Alin Albu-Schäffer:
Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow. IEEE Robotics Autom. Lett. 7(2): 2337-2344 (2022) - [j88]Michael Dyck, Arne Sachtler, Julian Klodmann, Alin Albu-Schäffer:
Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry. IEEE Robotics Autom. Lett. 7(3): 7738-7746 (2022) - [j87]Christopher Schlenk, Julian Klodmann, Katharina Hagmann, Alexander Kolb, Anja Hellings-Kuß, Florian Steidle, Dominik Stephan Schoeb, Thorsten Jürgens, Arkadiusz Miernik, Alin Albu-Schäffer:
A Robotic System for Solo Surgery in Flexible Ureterorenoscopy. IEEE Robotics Autom. Lett. 7(4): 10558-10565 (2022) - [j86]Michael Panzirsch, Aaron Pereira, Harsimran Singh, Bernhard M. Weber, Edmundo Ferreira, Andrei Gherghescu, Lukas Hann, Emiel Boudewijn den Exter, Frank P. J. van der Hulst, Levin Gerdes, Leonardo Cencetti, Kjetil Wormnes, Jessica Grenouilleau, William Y. C. Chen, Ribin Balachandran, Thomas Hulin, Christian Ott, Daniel Leidner, Alin Albu-Schäffer, Neal Y. Lii, Thomas Krüger:
Exploring planet geology through force-feedback telemanipulation from orbit. Sci. Robotics 7(65) (2022) - [c170]Annika Schmidt, Thomas Gumpert, Stefan Schreiber, Alin Albu-Schäffer:
Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case. AIM 2022: 1144-1151 - [c169]Davide Calzolari, Cosimo Della Santina, Alessandro M. Giordano, Alin Albu-Schäffer:
Single-Leg Forward Hopping via Nonlinear Modes. ACC 2022: 506-513 - [c168]Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi:
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. CDC 2022: 2437-2442 - [c167]Mathew Jose Pollayil, Cosimo Della Santina, George Mesesan, Johannes Englsberger, Daniel Seidel, Manolo Garabini, Christian Ott, Antonio Bicchi, Alin Albu-Schäffer:
Planning Natural Locomotion for Articulated Soft Quadrupeds. ICRA 2022: 6593-6599 - [c166]Peter Lehner, Máximo A. Roa, Alin Albu-Schäffer:
Kinematic Transfer Learning of Sampling Distributions for Manipulator Motion Planning. ICRA 2022: 7211-7217 - [c165]Maximilian Mühlbauer, Franz Steinmetz, Freek Stulp, Thomas Hulin, Alin Albu-Schäffer:
Multi-Phase Multi-Modal Haptic Teleoperation. IROS 2022: 7734-7741 - [i9]Alin Albu-Schäffer, Arne Sachtler:
Quasi-Orthogonal Foliations of the Configuration Space - A Redundancy Resolution Approach at Position Level. CoRR abs/2202.09869 (2022) - [i8]Antonin Raffin, Daniel Seidel, Jens Kober, Alin Albu-Schäffer, João Silvério, Freek Stulp:
Learning to Exploit Elastic Actuators for Quadruped Locomotion. CoRR abs/2209.07171 (2022) - [i7]Maged Iskandar, Christiaan van Ommeren, Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich:
Model Predictive Control for Flexible Joint Robots. CoRR abs/2210.08084 (2022) - [i6]Alin Albu-Schäffer, Arne Sachtler:
What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots? CoRR abs/2211.08165 (2022) - 2021
- [j85]Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer:
Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia. IEEE Control. Syst. Lett. 5(2): 445-450 (2021) - [j84]Cosimo Della Santina, Alin Albu-Schäffer:
Exciting Efficient Oscillations in Nonlinear Mechanical Systems Through Eigenmanifold Stabilization. IEEE Control. Syst. Lett. 5(6): 1916-1921 (2021) - [j83]Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer:
PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case. IEEE Control. Syst. Lett. 5(6): 2102-2107 (2021) - [j82]Annika Schmidt, Benedikt Feldotto, Thomas Gumpert, Daniel Seidel, Alin Albu-Schäffer, Philipp Stratmann:
Adapting Highly-Dynamic Compliant Movements to Changing Environments: A Benchmark Comparison of Reflex- vs. CPG-Based Control Strategies. Frontiers Neurorobotics 15: 762431 (2021) - [j81]Thomas Hulin, Michael Panzirsch, Harsimran Singh, Andre Coelho, Ribin Balachandran, Aaron Pereira, Bernhard M. Weber, Nicolai Bechtel, Cornelia Riecke, Bernhard Brunner, Neal Y. Lii, Julian Klodmann, Anja Hellings, Katharina Hagmann, Gabriel Quere, Adrian Simon Bauer, Marek Sierotowicz, Roberto Lampariello, Jörn Vogel, Alexander Dietrich, Daniel Leidner, Christian Ott, Gerd Hirzinger, Alin Albu-Schäffer:
Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases. Frontiers Robotics AI 8: 611251 (2021) - [j80]Korbinian Nottensteiner, Arne Sachtler, Alin Albu-Schäffer:
Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution. J. Intell. Robotic Syst. 101(3): 49 (2021) - [j79]Alin Albu-Schäffer, Dominic Lakatos, Stefano Stramigioli:
Strict Nonlinear Normal Modes of Systems Characterized by Scalar Functions on Riemannian Manifolds. IEEE Robotics Autom. Lett. 6(2): 1910-1917 (2021) - [j78]Luigi Bono Bonacchi, Máximo A. Roa, Anna Sesselmann, Florian Loeffl, Alin Albu-Schäffer, Cosimo Della Santina:
Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case. IEEE Robotics Autom. Lett. 6(2): 2555-2562 (2021) - [j77]Cosimo Della Santina, Davide Calzolari, Alessandro Massimo Giordano, Alin Albu-Schäffer:
Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions. IEEE Robotics Autom. Lett. 6(2): 2783-2790 (2021) - [j76]Ribin Balachandran, Michael Panzirsch, Marco De Stefano, Harsimran Singh, Christian Ott, Alin Albu-Schäffer:
Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference. IEEE Robotics Autom. Lett. 6(2): 3513-3520 (2021) - [j75]Alessandro M. Giordano, Davide Calzolari, Marco De Stefano, Hrishik Mishra, Christian Ott, Alin Albu-Schäffer:
Compliant Floating-Base Control of Space Robots. IEEE Robotics Autom. Lett. 6(4): 7485-7492 (2021) - [j74]Jörn Vogel, Daniel Leidner, Annette Hagengruber, Michael Panzirsch, Berthold Bäuml, Maximilian Denninger, Ulrich Hillenbrand, Lioba Suchenwirth, Peter Schmaus, Marco Sewtz, Adrian Simon Bauer, Thomas Hulin, Maged Iskandar, Gabriel Quere, Alin Albu-Schäffer, Alexander Dietrich:
An Ecosystem for Heterogeneous Robotic Assistants in Caregiving: Core Functionalities and Use Cases. IEEE Robotics Autom. Mag. 28(3): 12-28 (2021) - [c164]Cosimo Della Santina, Alin Albu-Schäffer:
Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization. ACC 2021: 8-13 - [c163]Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer:
PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case. ACC 2021: 4321-4326 - [c162]Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer:
Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. CDC 2021: 2448-2455 - [c161]Maged Iskandar, Oliver Eiberger, Alin Albu-Schäffer, Alessandro De Luca, Alexander Dietrich:
Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy. ICRA 2021: 3111-3117 - [c160]Anna Sesselmann, Florian Loeffl, Cosimo Della Santina, Máximo A. Roa, Alin Albu-Schäffer:
Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg. IROS 2021: 1370-1377 - [i5]Manuel Stoiber, Martin Pfanne, Klaus H. Strobl, Rudolph Triebel, Alin Albu-Schäffer:
SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World. CoRR abs/2110.12715 (2021) - 2020
- [j73]Alin Albu-Schäffer, Cosimo Della Santina:
A review on nonlinear modes in conservative mechanical systems. Annu. Rev. Control. 50: 49-71 (2020) - [j72]Davide Calzolari, Alessandro Massimo Giordano, Alin Albu-Schäffer:
Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic. IEEE Robotics Autom. Lett. 5(2): 1231-1238 (2020) - [j71]Moritz Maier, Manuel Keppler, Christian Ott, Alin Albu-Schäffer:
Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots. IEEE Robotics Autom. Lett. 5(2): 1445-1452 (2020) - [j70]Martin Pfanne, Maxime Chalon, Freek Stulp, Helge J. Ritter, Alin Albu-Schäffer:
Object-Level Impedance Control for Dexterous In-Hand Manipulation. IEEE Robotics Autom. Lett. 5(2): 2987-2994 (2020) - [j69]Ismael Rodríguez, Korbinian Nottensteiner, Daniel Leidner, Maximilian Durner, Freek Stulp, Alin Albu-Schäffer:
Pattern Recognition for Knowledge Transfer in Robotic Assembly Sequence Planning. IEEE Robotics Autom. Lett. 5(2): 3666-3673 (2020) - [j68]Martin J. Schuster, Marcus Gerhard Müller, Sebastian G. Brunner, Hannah Lehner, Peter Lehner, Ryo Sakagami, Andreas Dömel, Lukas Meyer, Bernhard Vodermayer, Riccardo Giubilato, Mallikarjuna Vayugundla, Josef Reill, Florian Steidle, Ingo von Bargen, Kristin Bussmann, Rico Belder, Philipp Lutz, Wolfgang Stürzl, Michal Smísek, Moritz Maier, Samantha Stoneman, Andre Fonseca Prince, Bernhard Rebele, Maximilian Durner, Emanuel Staudinger, Siwei Zhang, Robert Pöhlmann, Esther Bischoff, Christian Braun, Susanne Schröder, Enrico Dietz, Sven Frohmann, Anko Börner, Heinz-Wilhelm Hübers, Bernard Foing, Rudolph Triebel, Alin Olimpiu Albu-Schäffer, Armin Wedler:
The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration. IEEE Robotics Autom. Lett. 5(4): 5315-5322 (2020) - [j67]Alessandro M. Giordano, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
Coordination of thrusters, reaction wheels, and arm in orbital robots. Robotics Auton. Syst. 131: 103564 (2020) - [c159]Manuel Stoiber, Martin Pfanne, Klaus H. Strobl, Rudolph Triebel, Alin Albu-Schäffer:
A Sparse Gaussian Approach to Region-Based 6DoF Object Tracking. ACCV (2) 2020: 666-682 - [c158]Korbinian Nottensteiner, Freek Stulp, Alin Albu-Schäffer:
Robust, Locally Guided Peg-in-Hole using Impedance-Controlled Robots. ICRA 2020: 5771-5777 - [c157]Ribin Balachandran, Jee-Hwan Ryu, Mikael Jorda, Christian Ott, Alin Albu-Schäffer:
Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation. ICRA 2020: 10198-10204 - [c156]Ribin Balachandran, Hrishik Mishra, Matteo Cappelli, Bernhard M. Weber, Cristian Secchi, Christian Ott, Alin Albu-Schäffer:
Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters. ICRA 2020: 11298-11304 - [c155]Jörn Vogel, Annette Hagengruber, Maged Iskandar, Gabriel Quere, Ulrike Leipscher, Samuel Bustamante, Alexander Dietrich, Hannes Höppner, Daniel Leidner, Alin Albu-Schäffer:
EDAN: An EMG-controlled Daily Assistant to Help People With Physical Disabilities. IROS 2020: 4183-4190 - [c154]Maged Iskandar, Christian Ott, Oliver Eiberger, Manuel Keppler, Alin Albu-Schäffer, Alexander Dietrich:
Joint-Level Control of the DLR Lightweight Robot SARA. IROS 2020: 8903-8910 - [c153]Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer:
Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots. ISER 2020: 566-575 - [c152]Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. Robotics: Science and Systems 2020
2010 – 2019
- 2019
- [j66]Ismael Rodríguez, Korbinian Nottensteiner, Daniel Leidner, Michael Kaßecker, Freek Stulp, Alin Albu-Schäffer:
Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning. IEEE Robotics Autom. Lett. 4(2): 1416-1423 (2019) - [j65]Alessandro Massimo Giordano, Christian Ott, Alin Albu-Schäffer:
Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots. IEEE Robotics Autom. Lett. 4(2): 2108-2115 (2019) - [j64]Daniel Leidner, Georg Bartels, Wissam Bejjani, Alin Albu-Schäffer, Michael Beetz:
Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation. Robotics Auton. Syst. 114: 199-216 (2019) - [j63]Min Jun Kim, Fabian Beck, Christian Ott, Alin Albu-Schäffer:
Model-Free Friction Observers for Flexible Joint Robots With Torque Measurements. IEEE Trans. Robotics 35(6): 1508-1515 (2019) - [c151]George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control. Humanoids 2019: 25-32 - [c150]Arne Sachtler, Korbinian Nottensteiner, Michael Kaßecker, Alin Albu-Schäffer:
Combined Visual and Touch-based Sensing for the Autonomous Registration of Objects with Circular Features. ICAR 2019: 426-433 - [c149]Bernd Henze, Máximo A. Roa, Alexander Werner, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees. ICRA 2019: 2510-2516 - [c148]Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer:
Exact Modal Characterization of the Non Conservative Non Linear Radial Mass Spring System. ICRA 2019: 3101-3107 - [c147]En Yen Puang, Peter Lehner, Zoltan-Csaba Marton, Maximilian Durner, Rudolph Triebel, Alin Albu-Schäffer:
Visual Repetition Sampling for Robot Manipulation Planning. ICRA 2019: 9236-9242 - [c146]Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl, Florian Schmidt, Daniel Seidel, Alin Albu-Schäffer:
A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots. ICRA 2019: 9509-9515 - [c145]Christopher Schlenk, Andrea Schwier, Michael Heiss, Thomas Bahls, Alin Albu-Schäffer:
Design of a robotic instrument for minimally invasive waterjet surgery. ISMR 2019: 1-7 - [i4]Min Jun Kim, Fabian Beck, Christian Ott, Alin Albu-Schäffer:
Model-free Friction Observers for Flexible Joint Robots with Torque Measurements. CoRR abs/1907.00553 (2019) - [i3]Alin Albu-Schäffer, Dominic Lakatos, Stefano Stramigioli:
One-Dimensional Solution Families of Nonlinear Systems Characterized by Scalar Functions on Riemannian Manifolds. CoRR abs/1911.01882 (2019) - 2018
- [j62]Arash Ajoudani, Andrea Maria Zanchettin, Serena Ivaldi, Alin Albu-Schäffer, Kazuhiro Kosuge, Oussama Khatib:
Progress and prospects of the human-robot collaboration. Auton. Robots 42(5): 957-975 (2018) - [j61]Steffen Jaekel, Roberto Lampariello, Wolfgang Rackl, Marco De Stefano, Nassir W. Oumer, Alessandro M. Giordano, Oliver Porges, Markus Pietras, Bernhard Brunner, John Ratti, Quirin Muehlbauer, Markus Thiel, Stéphane Estable, Robin Biesbroek, Alin Albu-Schäffer:
Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission. Frontiers Robotics AI 5: 100 (2018) - [j60]Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schäffer, Patrick Clary, Monica A. Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan W. Hurst, Jörn Malzahn, Glenn Mathijssen, C. David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae-Bok Song, Nils Smit-Anseeuw, Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikolaos G. Tsagarakis:
An Overview on Principles for Energy Efficient Robot Locomotion. Frontiers Robotics AI 5: 129 (2018) - [j59]George Mesesan, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion. IEEE Robotics Autom. Lett. 3(4): 3449-3456 (2018) - [j58]Bernd Henze, Ribin Balachandran, Máximo Alejandro Roa-Garzón, Christian Ott, Alin Albu-Schäffer:
Passivity Analysis and Control of Humanoid Robots on Movable Ground. IEEE Robotics Autom. Lett. 3(4): 3457-3464 (2018) - [j57]Martin Pfanne, Maxime Chalon, Freek Stulp, Alin Albu-Schäffer:
Fusing Joint Measurements and Visual Features for In-Hand Object Pose Estimation. IEEE Robotics Autom. Lett. 3(4): 3497-3504 (2018) - [j56]Roberto Lampariello, Hrishik Mishra, Nassir W. Oumer, Phillip Schmidt, Marco De Stefano, Alin Albu-Schäffer:
Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot. IEEE Robotics Autom. Lett. 3(4): 3638-3645 (2018) - [j55]Peter Lehner, Alin Albu-Schäffer:
The Repetition Roadmap for Repetitive Constrained Motion Planning. IEEE Robotics Autom. Lett. 3(4): 3884-3891 (2018) - [j54]Dominic Lakatos, Kai Ploeger, Florian Loeffl, Daniel Seidel, Florian Schmidt, Thomas Gumpert, Freia John, Torsten Bertram, Alin Albu-Schäffer:
Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design. IEEE Robotics Autom. Lett. 3(4): 3908-3915 (2018) - [j53]Luc Le Tien, Alin Albu-Schäffer:
Robust Adaptive Tracking Control Based on State Feedback Controller With Integrator Terms for Elastic Joint Robots With Uncertain Parameters. IEEE Trans. Control. Syst. Technol. 26(6): 2259-2267 (2018) - [j52]Sami Haddadin, Kai Krieger, Alin Albu-Schäffer, Torsten Lilge:
Exploiting Elastic Energy Storage for "Blind" Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling. IEEE Trans. Robotics 34(1): 91-112 (2018) - [j51]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots. IEEE Trans. Robotics 34(2): 317-335 (2018) - [j50]Yanan Li, Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet:
Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification. IEEE Trans. Robotics 34(5): 1170-1182 (2018) - [c144]Manuel Keppler, Dominic Lakatos, Alexander Werner, Florian Loeffl, Christian Ott, Alin Albu-Schäffer:
Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots. ECC 2018: 255-260 - [c143]Johannes Englsberger, George Mesesan, Christian Ott, Alin Albu-Schäffer:
DCM-Based Gait Generation for Walking on Moving Support Surfaces. Humanoids 2018: 1-8 - [c142]Alessandro M. Giordano, Davide Calzolari, Alin Albu-Schäffer:
Workspace Fixation for Free-Floating Space Robot Operations. ICRA 2018: 889-896 - [c141]Adrian Simon Bauer, Peter Schmaus, Alin Albu-Schäffer, Daniel Leidner:
Inferring Semantic State Transitions During Telerobotic Manipulation. IROS 2018: 1-9 - [c140]Daniel Seidel, Dominic Lakatos, Alin Albu-Schäffer:
Data-Driven Discrete Planning for Targeted Hopping of Compliantly Actuated Robotic Legs. IROS 2018: 2261-2266 - [c139]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots. IROS 2018: 5861-5868 - [c138]Anton Leonhard Shu, Bastian Deutschmann, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
Robust H∞ control of a tendon-driven elastic continuum mechanism via a systematic description of nonlinearities. SyRoCo 2018: 386-392 - [c137]Ribin Balachandran, Natalia Kozlova, Christian Ott, Alin Albu-Schäffer:
Non-Linear Local Force Feedback Control for Haptic Interfaces ⁎. SyRoCo 2018: 486-492 - [i2]Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer:
Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Soft Robots. CoRR abs/1806.08389 (2018) - [i1]Karan Sharma, Claudio Castellini, Egon L. van den Broek, Alin Albu-Schäffer, Friedhelm Schwenker:
A dataset of continuous affect annotations and physiological signals for emotion analysis. CoRR abs/1812.02782 (2018) - 2017
- [j49]Luc Le Tien, Alin Albu-Schäffer:
Decoupling and tracking control for elastic joint robots with coupled joint structure. Adv. Robotics 31(4): 184-203 (2017) - [j48]Philipp Stratmann, Dominic Lakatos, Mehmet Can Özparpucu, Alin Albu-Schäffer:
Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency. IEEE Robotics Autom. Lett. 2(2): 436-443 (2017) - [j47]Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Christian Ott, Alin Albu-Schäffer, Stefano Stramigioli:
Passive Hierarchical Impedance Control Via Energy Tanks. IEEE Robotics Autom. Lett. 2(2): 522-529 (2017) - [j46]Dominic Lakatos, Werner Friedl, Alin Albu-Schäffer:
Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots With Elastic Elements. IEEE Robotics Autom. Lett. 2(2): 1062-1069 (2017) - [j45]Thomas Bahls, Florian A. Fröhlich, Anja Hellings, Bastian Deutschmann, Alin Olimpiu Albu-Schäffer:
Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics. IEEE Trans. Biomed. Eng. 64(2): 284-294 (2017) - [j44]Sami Haddadin, Alessandro De Luca, Alin Albu-Schäffer:
Robot Collisions: A Survey on Detection, Isolation, and Identification. IEEE Trans. Robotics 33(6): 1292-1312 (2017) - [c136]Alessandro M. Giordano, Gianluca Garofalo, Alin Albu-Schäffer:
Momentum dumping for space robots. CDC 2017: 5243-5248 - [c135]Michael Panzirsch, Ribin Balachandran, Jordi Artigas, Cornelia Riecke, Manuel Ferre, Alin Albu-Schäffer:
Haptic intention augmentation for cooperative teleoperation. ICRA 2017: 5335-5341 - [c134]Peter Lehner, Alin Albu-Schäffer:
Repetition sampling for efficiently planning similar constrained manipulation tasks. IROS 2017: 2851-2856 - 2016
- [j43]Friedrich Lange, Alin Albu-Schäffer:
Iterative path-accurate trajectory generation for fast sensor-based motion of robot arms. Adv. Robotics 30(21): 1380-1394 (2016) - [j42]Alexander Dietrich, Kristin Bussmann, Florian Petit, Paul Kotyczka, Christian Ott, Boris Lohmann, Alin Albu-Schäffer:
Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin. Auton. Robots 40(3): 505-517 (2016) - [j41]Daniel Leidner, Alexander Dietrich, Michael Beetz, Alin Albu-Schäffer:
Knowledge-enabled parameterization of whole-body control strategies for compliant service robots. Auton. Robots 40(3): 519-536 (2016) - [j40]Philipp Stratmann, Dominic Lakatos, Alin Albu-Schäffer:
Neuromodulation and Synaptic Plasticity for the Control of Fast Periodic Movement: Energy Efficiency in Coupled Compliant Joints via PCA. Frontiers Neurorobotics 10: 2 (2016) - [j39]