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ORCIDChristian Ott 0001
Person information
- affiliation: German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany
- affiliation (2007 - 2009): University of Tokyo, Department of Mechano Informatics, Japan
- affiliation (PhD 2005): Saarland University, Saarbrücken, Germany
Other persons with the same name
- Christian Ott 0002 — Technische Universität München, Lehrstuhl für Wirtschaftsinformatik, Germany
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2020 – today
- 2024
[j77]Sait Sovukluk
, Johannes Englsberger, Christian Ott:
Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics. IEEE Robotics Autom. Lett. 9(2): 1131-1138 (2024)- [j76]Annika Kirner, Christian Ott:
Impact Analysis for the Planning of Targeted Non-Slippage Impacts of Robot Manipulators. IEEE Robotics Autom. Lett. 9(3): 2750-2757 (2024) - [j75]Huseyin Tugcan Dinc, Thomas Hulin, Christian Ott, Jee-Hwan Ryu:
Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction. IEEE Trans. Haptics 17(1): 100-107 (2024) - [i13]Hemjyoti Das, Minh Nhat Vu, Tobias Egle, Christian Ott:
Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform. CoRR abs/2401.17676 (2024) - [i12]Shail Jadav, Johannes Heidersberger, Christian Ott, Dongheui Lee:
Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstration. CoRR abs/2403.12720 (2024) - 2023
- [j74]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) - [j73]Xuming Meng, Manuel Keppler, Christian Ott:
Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots. IEEE Control. Syst. Lett. 7: 217-222 (2023) - [j72]Maged Iskandar, Christian Ott, Alin Albu-Schäffer, Bruno Siciliano, Alexander Dietrich:
Hybrid Force-Impedance Control for Fast End-Effector Motions. IEEE Robotics Autom. Lett. 8(7): 3931-3938 (2023) - [j71]Grazia Zambella, Robert Schuller, George Mesesan, Antonio Bicchi, Christian Ott, Jinoh Lee:
Agile and Dynamic Standing-Up Control for Humanoids Using 3D Divergent Component of Motion in Multi-Contact Scenario. IEEE Robotics Autom. Lett. 8(9): 5624-5631 (2023) - [j70]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) - [j69]Hrishik Mishra, Gianluca Garofalo, Alessandro Massimo Giordano, Marco De Stefano, Christian Ott, Andreas Kugi:
Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications. IEEE Trans. Robotics 39(2): 1439-1457 (2023) - [j68]George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion. IEEE Trans. Robotics 39(6): 4443-4463 (2023) - [c139]Tobias Egle, Johannes Englsberger, Christian Ott:
Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases. Humanoids 2023: 1-8 - [c138]Sait Sovukluk, Christian Ott, M. Mert Ankarali:
Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations. Humanoids 2023: 1-8 - [c137]Yuri S. Sarkisov, Andre Coelho, Maihara Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak:
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation. ICRA 2023: 5366-5372 - [c136]Marco De Stefano, Ria Vijayan, Andreas Stemmer, Ferdinand Elhardt, Christian Ott:
A Gravity Compensation Strategy for On-ground Validation of Orbital Manipulators. ICRA 2023: 11859-11865 - [c135]Hemjyoti Das, Bjørn Kåre Sæbø, Kristin Y. Pettersen, Christian Ott:
Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks. IROS 2023: 4390-4396 - [c134]Sait Sovukluk, Johannes Englsberger, Christian Ott:
Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study. IROS 2023: 10390-10396 - [i11]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. CoRR abs/2303.01705 (2023) - [i10]Yuri S. Sarkisov, Andre Coelho, Maihara Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak:
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation. CoRR abs/2305.16466 (2023) - 2022
- [j67]George Jose Pollayil, Xuming Meng, Manuel Keppler, Martin Pfanne, Antonio Bicchi, Christian Ott:
Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems. IEEE Control. Syst. Lett. 6: 1982-1987 (2022) - [j66]Yisoo Lee, Nikos G. Tsagarakis, Christian Ott, Jinoh Lee:
A Generalized Index for Fault-Tolerant Control in Operational Space Under Free-Swinging Actuation Failure. IEEE Robotics Autom. Lett. 7(2): 1486-1493 (2022) - [j65]Michael Panzirsch, Marek Sierotowicz, Revanth Prakash, Harsimran Singh, Christian Ott:
Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference. IEEE Robotics Autom. Lett. 7(2): 4440-4447 (2022) - [j64]Marie Harder, Manuel Keppler, Xuming Meng, Christian Ott, Hannes Höppner, Alexander Dietrich:
Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators. IEEE Robotics Autom. Lett. 7(3): 6614-6621 (2022) - [j63]Manuel Keppler, Clara Raschel, David Wandinger, Andreas Stemmer, Christian Ott:
Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments. IEEE Robotics Autom. Lett. 7(3): 8283-8290 (2022) - [j62]Xuwei Wu, Annika Kirner, Gianluca Garofalo, Christian Ott, Paul Kotyczka, Alexander Dietrich:
Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators. IEEE Robotics Autom. Lett. 7(4): 12307-12314 (2022) - [j61]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) - [j60]Min Jun Kim, Alexander Werner, Florian Loeffl, Christian Ott:
Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control. IEEE Trans. Robotics 38(1): 584-598 (2022) - [j59]Youssef Michel, Christian Ott, Dongheui Lee:
Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators. IEEE Trans. Robotics 38(6): 3899-3916 (2022) - [c133]Xuwei Wu, Christian Ott, Alexander Dietrich:
A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot. ACC 2022: 1933-1940 - [c132]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 - [c131]Konrad Fründ, Anton Leonhard Shu, Florian Christoph Loeffl, Christian Ott:
A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion. Humanoids 2022: 60-66 - [c130]Fabian Beck, Maximilian Rehermann, Johann Reger, Christian Ott:
Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions. Humanoids 2022: 261-268 - [c129]Tobias Egle, Johannes Englsberger, Christian Ott:
Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions. Humanoids 2022: 630-637 - [c128]Ria Vijayan, Marco De Stefano, Christian Ott:
A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase. ICRA 2022: 4080-4086 - [c127]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 - [c126]Jinyeong Jeong, Hrishik Mishra, Christian Ott, Min Jun Kim:
A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function. ICRA 2022: 8338-8344 - [c125]Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott:
Online Learning of Centroidal Angular Momentum towards Enhancing DCM-based Locomotion. ICRA 2022: 10442-10448 - 2021
- [j58]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) - [j57]Andre Coelho, Yuri S. Sarkisov, Xuwei Wu, Hrishik Mishra, Harsimran Singh, Alexander Dietrich, Antonio Franchi, Konstantin Kondak, Christian Ott:
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. J. Intell. Robotic Syst. 102(1): 14 (2021) - [j56]Riccardo Mengacci, Manuel Keppler, Martin Pfanne, Antonio Bicchi, Christian Ott:
Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa). IEEE Robotics Autom. Lett. 6(2): 879-886 (2021) - [j55]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) - [j54]Marco De Stefano, Hrishik Mishra, Alessandro M. Giordano, Roberto Lampariello, Christian Ott:
A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions. IEEE Robotics Autom. Lett. 6(2): 3569-3576 (2021) - [j53]Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott:
Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery. IEEE Robotics Autom. Lett. 6(3): 5689-5696 (2021) - [j52]Manuel Keppler, Florian Loeffl, David Wandinger, Clara Raschel, Christian Ott:
Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control. IEEE Robotics Autom. Lett. 6(4): 7121-7128 (2021) - [j51]Gianluca Garofalo, Xuwei Wu, Christian Ott:
Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators. IEEE Robotics Autom. Lett. 6(4): 7129-7136 (2021) - [j50]Hrishik Mishra, Ribin Balachandran, Marco De Stefano, Christian Ott:
A Compliant Partitioned Shared Control Strategy for an Orbital Robot. IEEE Robotics Autom. Lett. 6(4): 7317-7324 (2021) - [j49]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) - [c124]Xuming Meng, Manuel Keppler, Christian Ott:
Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation. ECC 2021: 263-269 - [c123]Shengzhi Wang, George Mesesan, Johannes Englsberger, Dongheui Lee, Christian Ott:
Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control. HUMANOIDS 2021: 112-119 - [c122]Johannes Englsberger, Alessandro M. Giordano, Achraf Hiddane, Robert Schuller, Florian Loeffl, George Mesesan, Christian Ott:
From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness. HUMANOIDS 2021: 170-177 - [c121]Ribin Balachandran, Hrishik Mishra, Michael Panzirsch, Christian Ott:
A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation. ICRA 2021: 1579-1585 - [c120]George Mesesan, Johannes Englsberger, Christian Ott:
Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion. ICRA 2021: 12780-12786 - 2020
- [j48]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) - [j47]Gianluca Garofalo, Christian Ott:
Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds. IEEE Robotics Autom. Lett. 5(4): 6153-6160 (2020) - [j46]Harsimran Singh, Michael Panzirsch, Andre Coelho, Christian Ott:
Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance. IEEE Robotics Autom. Lett. 5(4): 6599-6606 (2020) - [j45]Michael Panzirsch, Harsimran Singh, Christian Ott:
The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach With Preservation of Physical Coupling Behavior. IEEE Robotics Autom. Lett. 5(4): 6756-6763 (2020) - [j44]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) - [j43]Alexander Dietrich, Christian Ott:
Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots. IEEE Trans. Robotics 36(1): 204-221 (2020) - [c119]Hrishik Mishra, Marco De Stefano, Alessandro M. Giordano, Roberto Lampariello, Christian Ott:
A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target. ACC 2020: 2150-2157 - [c118]Hrishik Mishra, Marco De Stefano, Alessandro M. Giordano, Christian Ott:
Output Feedback Stabilization of an Orbital Robot. CDC 2020: 1503-1501 - [c117]Gianluca Garofalo, Fabian Beck, Julian Klodmann, Christian Ott:
On the Control of Translationally Flexible Base Manipulators. ECC 2020: 867-874 - [c116]Thomas Hulin, Michael Rothammer, Isabel Tannert, Suraj Subramanyam Giri, Benedikt Pleintinger, Harsimran Singh, Bernhard M. Weber, Christian Ott:
FingerTac - A Wearable Tactile Thimble for Mobile Haptic Augmented Reality Applications. HCI (10) 2020: 286-298 - [c115]Yuri S. Sarkisov, Min Jun Kim, Andre Coelho, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak:
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor. ICRA 2020: 5349-5355 - [c114]Andre Coelho, Harsimran Singh, Konstantin Kondak, Christian Ott:
Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator. ICRA 2020: 9150-9156 - [c113]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 - [c112]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 - [c111]Hrishik Mishra, Alessandro M. Giordano, Marco De Stefano, Roberto Lampariello, Christian Ott:
Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces. IROS 2020: 1879-1886 - [c110]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 - [c109]Harsimran Singh, Michael Rothammer, Chan-Il Lee, Thomas Hulin, Jee-Hwan Ryu, Christian Ott:
Ensuring Stable and Transparent High Stiffness Haptic Interaction Using Successive Force Augmention with Time Domain Passivity Approach. ISER 2020: 263-273 - [c108]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 - [p3]Daniel Braun, Markus Achtelik, Christian Ott, Bernd Winkler, Zachary Taylor:
The EuRoC Platforms. EuRoC 2020: 35-54 - [e1]Fabrizio Caccavale, Christian Ott, Bernd Winkler, Zachary Taylor:
Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users - The Experience of the European Robotics Challenges. Springer Tracts in Advanced Robotics 136, Springer 2020, ISBN 978-3-030-34506-8 [contents] - [i9]Andre Coelho, Harsimran Singh, Konstantin Kondak, Christian Ott:
Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator. CoRR abs/2001.10779 (2020) - [i8]Yuri S. Sarkisov, Min Jun Kim, Andre Coelho, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak:
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor. CoRR abs/2003.00472 (2020)
2010 – 2019
- 2019
- [j42]Gianluca Garofalo, Alexander Werner, Florian Loeffl, Christian Ott:
Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop. IEEE Control. Syst. Lett. 3(1): 1-6 (2019) - [j41]Marco De Stefano, Hrishik Mishra, Ribin Balachandran, Roberto Lampariello, Christian Ott, Cristian Secchi:
Multi-Rate Tracking Control for a Space Robot on a Controlled Satellite: A Passivity-Based Strategy. IEEE Robotics Autom. Lett. 4(2): 1319-1326 (2019) - [j40]Firas Abi-Farraj, Bernd Henze, Christian Ott, Paolo Robuffo Giordano, Máximo A. Roa:
Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks. IEEE Robotics Autom. Lett. 4(2): 2023-2030 (2019) - [j39]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) - [j38]Bastian Deutschmann, Maxime Chalon, Jens Reinecke, Maximilian Maier, Christian Ott:
Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model. IEEE Robotics Autom. Lett. 4(4): 3425-3432 (2019) - [j37]Abderrahmane Kheddar, Máximo A. Roa, Pierre-Brice Wieber, François Chaumette, Fabien Spindler, Giuseppe Oriolo, Leonardo Lanari, Adrien Escande, Kevin Chappellet, Fumio Kanehiro, Patrice Rabaté, Stéphane Caron, Pierre Gergondet, Andrew I. Comport, Arnaud Tanguy, Christian Ott, Bernd Henze, George Mesesan, Johannes Englsberger:
Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases. IEEE Robotics Autom. Mag. 26(4): 30-45 (2019) - [j36]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) - [c107]Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano, Christian Ott:
A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements. ACC 2019: 1114-1121 - [c106]David Henry, Jérôme Cieslak, Jazmin Zenteno Torres, Pablo Colmenarejo, J. Branco, Nuno Santos, Pedro Serra, Jürgen Telaar, Hans Strauch, Alessandro Massimo Giordano, Marco De Stefano, Christian Ott, Matthias Reiner, Jaroslaw Jaworski, Evangelos Papadopoulos, Gianfranco Visentin, Finn Ankersen, Jesus Gil Fernandez:
Model-based fault diagnosis and tolerant control: the ESA's e.Deorbit mission. ECC 2019: 4356-4361 - [c105]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 - [c104]Juan Miguel García-Haro, Bernd Henze, George Mesesan, Santiago Martínez de la Casa Díaz, Christian Ott:
Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots. Humanoids 2019: 644-650 - [c103]Andre Coelho, Christian Ott, Harsimran Singh, Fernando C. Lizarralde, Konstantin Kondak:
Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation. ICAR 2019: 695-701 - [c102]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 - [c101]Fabian Beck, Gianluca Garofalo, Christian Ott:
Vibration Control for Manipulators on a Translationally Flexible Base. ICRA 2019: 4451-4457 - [c100]Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak:
Development of SAM: cable-Suspended Aerial Manipulator*. ICRA 2019: 5323-5329 - [c99]Gianluca Garofalo, Nico Mansfeld, Julius Jankowski, Christian Ott:
Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration. ICRA 2019: 6117-6123 - [c98]Jérôme Cieslak, David Henry, Pablo Colmenarejo, J. Branco, Nuno Santos, Pedro Serra, Jürgen Telaar, Hans Strauch, Alessandro Massimo Giordano, Marco De Stefano, Christian Ott, Matthias Reiner, Jaroslaw Jaworski, Evangelos Papadopoulos, Gianfranco Visentin, Finn Ankersen, Jesus Gil Fernandez:
Assessment of a Supervisory Fault-Hiding Scheme in a Classical Guidance, Navigation and Control Setup: the e.Deorbit mission. SysTol 2019: 7-12 - [i7]Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak:
Development of SAM: cable-Suspended Aerial Manipulator. CoRR abs/1903.02426 (2019) - [i6]Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano, Christian Ott:
A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements. CoRR abs/1903.07230 (2019) - [i5]Min Jun Kim, Woongyong Lee, Jae Yeon Choi, Goo Bong Chung, Kyung-Lyong Han, Il Seop Choi, Christian Ott, Wan Kyun Chung:
A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions. CoRR abs/1904.08833 (2019) - [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]Andre Coelho, Christian Ott, Harsimran Singh, Fernando C. Lizarralde, Konstantin Kondak:
Multi-DoF Time Domain Passivity Approach based Drift Compensation for Telemanipulation. CoRR abs/1909.01603 (2019) - 2018
- [j35]Alexander Dietrich, Christian Ott, Jaeheung Park:
The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case. IEEE Robotics Autom. Lett. 3(2): 1120-1127 (2018) - [j34]Bastian Deutschmann, Tong Liu, Alexander Dietrich, Christian Ott, Dongheui Lee:
A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism. IEEE Robotics Autom. Lett. 3(2): 1450-1457 (2018) - [j33]Min Jun Kim, Konstantin Kondak, Christian Ott:
A Stabilizing Controller for Regulation of UAV With Manipulator. IEEE Robotics Autom. Lett. 3(3): 1719-1726 (2018) - [j32]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) - [j31]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) - [j30]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) - [c97]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 - [c96]Gianluca Garofalo, Fabian Beck, Christian Ott:
Task-space Tracking Control for Underactuated Aerial Manipulators. ECC 2018: 628-634 - [c95]Johannes Englsberger, George Mesesan, Christian Ott, Alin Albu-Schäffer:
DCM-Based Gait Generation for Walking on Moving Support Surfaces. Humanoids 2018: 1-8 - [c94]Johannes Englsberger, George Mesesan, Alexander Werner, Christian Ott:
Torque-Based Dynamic Walking - A Long Way from Simulation to Experiment. ICRA 2018: 440-447 - [c93]Kristin Bussmann, Alexander Dietrich, Christian Ott:
Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation. ICRA 2018: 910-917 - [c92]Marco De Stefano, Ribin Balachandran, Alessandro M. Giordano, Christian Ott, Cristian Secchi:
An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base. ICRA 2018: 1072-1077 - [c91]Alexander Werner, Bernd Henze, Manuel Keppler, Florian Loeffl, Sigrid Leyendecker, Christian Ott:
Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots. IROS 2018: 1233-1240 - [c90]Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott:
Passive Compliance Control of Aerial Manipulators. IROS 2018: 4177-4184 - [c89]Firas Abi-Farraj, Bernd Henze, Alexander Werner, Michael Panzirsch, Christian Ott, Máximo A. Roa:
Humanoid Teleoperation Using Task-Relevant Haptic Feedback. IROS 2018: 5010-5017 - [c88]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots. IROS 2018: 5861-5868 - [c87]Michael Panzirsch, Harsimran Singh, Martin Stelzer, Martin J. Schuster, Christian Ott, Manuel Ferre:
Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control. Intelligent Vehicles Symposium 2018: 1723-1730 - [c86]Gianluca Garofalo, Christian Ott:
Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control. SyRoCo 2018: 73-78 - [c85]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 - [c84]Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott:
Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses ⁎. SyRoCo 2018: 465-470 - [c83]Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano, Christian Ott:
Tracking Control with Robotic Systems for a Moving Target: A Vector Lyapunov Function Approach. SyRoCo 2018: 471-478 - [c82]Ribin Balachandran, Natalia Kozlova, Christian Ott, Alin Albu-Schäffer:
Non-Linear Local Force Feedback Control for Haptic Interfaces ⁎. SyRoCo 2018: 486-492 - [i2]Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott:
Passive Compliance Control of Aerial Manipulators. CoRR abs/1808.03037 (2018) - [i1]Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott:
Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses. CoRR abs/1809.08819 (2018) - 2017
- [j29]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) - [j28]Federico L. Moro, Luis Sentis, Jaeheung Park, Christopher G. Atkeson, Michael Gienger, Ambarish Goswami, Shuuji Kajita, Oussama Khatib, James Kuffner, David E. Orin, Christian Ott, Jerry E. Pratt, Ludovic Righetti, Bruno Siciliano, Russ Tedrake, Eiichi Yoshida:
Whole-Body Control [TC Spotlight]. IEEE Robotics Autom. Mag. 24(3): 12-14 (2017) - [j27]Gianluca Garofalo, Christian Ott:
Energy Based Limit Cycle Control of Elastically Actuated Robots. IEEE Trans. Autom. Control. 62(5): 2490-2497 (2017) - [j26]Nicolas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux, Darwin G. Caldwell:
Continuous Legged Locomotion Planning. IEEE Trans. Robotics 33(1): 234-239 (2017) - [j25]Teodor Tomic, Christian Ott, Sami Haddadin:
External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots. IEEE Trans. Robotics 33(6): 1467-1482 (2017) - [c81]Bastian Deutschmann, Alexander Dietrich, Christian Ott:
Position control of an underactuated continuum mechanism using a reduced nonlinear model. CDC 2017: 5223-5230 - [c80]Gianluca Garofalo, Christian Ott:
Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation. HFR 2017: 29-45 - [c79]Alexander Werner, Bernd Henze, Florian Loeffl, Sigrid Leyendecker, Christian Ott:
Optimal and robust walking using intrinsic properties of a series-elastic robot. Humanoids 2017: 143-150 - [c78]Min Jun Kim, Alexander Werner, Florian Christoph Loeffl, Christian Ott:
Enhancing joint torque control of series elastic actuators with physical damping. ICRA 2017: 1227-1234 - [c77]Hamid Sadeghian, Christian Ott, Gianluca Garofalo, Gordon Cheng:
Passivity-based control of underactuated biped robots within hybrid zero dynamics approach. ICRA 2017: 4096-4101 - [c76]George Mesesan, Johannes Englsberger, Bernd Henze, Christian Ott:
Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion. ICRA 2017: 4108-4115 - [c75]Bernd Henze, Alexander Dietrich, Máximo A. Roa, Christian Ott:
Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts. IROS 2017: 697-704 - [c74]Johannes Englsberger, George Mesesan, Christian Ott:
Smooth trajectory generation and push-recovery based on Divergent Component of Motion. IROS 2017: 4560-4567 - [c73]Moritz Maier, Konstantin Kondak, Christian Ott:
Enabling robot assisted landing of heavy UAV rotorcraft via combined control and workload sharing. IROS 2017: 5128-5134 - [c72]Nico Mansfeld, Badis Djellab, Jaime Raldua Veuthey, Fabian Beck, Christian Ott, Sami Haddadin:
Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization. IROS 2017: 5390-5397 - [c71]Alexander Werner, Wojciech Turlej, Christian Ott:
Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots. IROS 2017: 5853-5860 - [c70]Bastian Deutschmann, Christian Ott, Concepción A. Monje, Carlos Balaguer:
Robust Motion Control of a Soft Robotic System Using Fractional Order Control. RAAD 2017: 147-155 - 2016
- [j24]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) - [j23]Bernd Henze, Máximo A. Roa, Christian Ott:
Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios. Int. J. Robotics Res. 35(12): 1522-1543 (2016) - [j22]Gianluca Garofalo, Christian Ott:
Limit Cycle Control Using Energy Function Regulation With Friction Compensation. IEEE Robotics Autom. Lett. 1(1): 90-97 (2016) - [j21]Alexander Dietrich, Christian Ott, Stefano Stramigioli:
Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks. IEEE Robotics Autom. Lett. 1(1): 184-191 (2016) - [j20]Bernd Henze, Alexander Dietrich, Christian Ott:
An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. IEEE Robotics Autom. Lett. 1(2): 700-707 (2016) - [j19]Christian Ott, Bernd Henze, Georg Hettich, Tim Niklas Seyde, Máximo A. Roa, Vittorio Lippi, Thomas Mergner:
Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots. IEEE Robotics Autom. Mag. 23(1): 22-33 (2016) - [j18]Kai Hu, Christian Ott, Dongheui Lee:
Learning and Generalization of Compensative Zero-Moment Point Trajectory for Biped Walking. IEEE Trans. Robotics 32(3): 717-725 (2016) - [j17]Johannes Englsberger, Pawel Kozlowski, Christian Ott, Alin Albu-Schäffer:
Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back. IEEE Trans. Robotics 32(4): 854-867 (2016) - [c69]Nico Mansfeld, Christian Ott, Sami Haddadin:
Maximal input limits for independent SISO control in modal space under consideration of actuator constraints. ACC 2016: 6721-6728 - [c68]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots. CDC 2016: 1521-1528 - [c67]Alessandro M. Giordano, Gianluca Garofalo, Marco De Stefano, Christian Ott, Alin Albu-Schäffer:
Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta. CDC 2016: 7527-7534 - [c66]Michael Panzirsch, Thomas Hulin, Jordi Artigas, Christian Ott, Manuel Ferre:
Integrating Measured Force Feedback in Passive Multilateral Teleoperation. EuroHaptics (1) 2016: 316-326 - [c65]Florian Loeffl, Alexander Werner, Dominic Lakatos, Jens Reinecke, Sebastian Wolf, Robert Burger, Thomas Gumpert, Florian Schmidt, Christian Ott, Markus Grebenstein, Alin Albu-Schäffer:
The DLR C-runner: Concept, design and experiments. Humanoids 2016: 758-765 - [c64]Hamid Sadeghian, Christian Ott, Gordon Cheng:
Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach. Humanoids 2016: 870-875 - [c63]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots. ICRA 2016: 1079-1086 - [c62]Min Jun Kim, Woongyong Lee, Christian Ott, Wan Kyun Chung:
A passivity-based admittance control design using feedback interconnections. IROS 2016: 801-807 - [p2]Shuuji Kajita, Christian Ott:
Limbed Systems. Springer Handbook of Robotics, 2nd Ed. 2016: 419-442 - 2015
- [j16]Christian Ott, Alexander Dietrich, Alin Albu-Schäffer:
Prioritized multi-task compliance control of redundant manipulators. Autom. 53: 416-423 (2015) - [j15]Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
An overview of null space projections for redundant, torque-controlled robots. Int. J. Robotics Res. 34(11): 1385-1400 (2015) - [j14]Christian Ott, Ranjan Mukherjee, Yoshihiko Nakamura:
A Hybrid System Framework for Unified Impedance and Admittance Control. J. Intell. Robotic Syst. 78(3-4): 359-375 (2015) - [j13]Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion. IEEE Trans. Robotics 31(2): 355-368 (2015) - [c61]Gianluca Garofalo, Johannes Englsberger, Christian Ott:
On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations. ACC 2015: 4825-4831 - [c60]Johannes Englsberger, Pawel Kozlowski, Christian Ott:
Biologically inspired deadbeat control for running on 3D stepping stones. Humanoids 2015: 1067-1074 - [c59]Zhaopeng Chen, Christian Ott, Neal Y. Lii:
A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework. ICIRA (2) 2015: 381-395 - [c58]Zhaopeng Chen, Thomas Wimböck, Máximo A. Roa, Benedikt Pleintinger, Miguel Neves, Christian Ott, Christoph Borst, Neal Y. Lii:
An adaptive compliant multi-finger approach-to-grasp strategy for objects with position uncertainties. ICRA 2015: 4911-4918 - [c57]Kai Hu, Christian Ott, Dongheui Lee:
Online iterative learning control of zero-moment point for biped walking stabilization. ICRA 2015: 5127-5133 - [c56]Johannes Englsberger, Pawel Kozlowski, Christian Ott:
Biologically Inspired Dead-beat controller for bipedal running in 3D. IROS 2015: 989-996 - [c55]Phillip Schmidt, Jordi Artigas, Marco De Stefano, Ribin Balachandran, Christian Ott:
Increasing the Performance of Torque-based Visual Servoing by applying Time Domain Passivity. SyRoCo 2015: 13-18 - 2014
- [c54]Alexander Werner, Roberto Lampariello, Christian Ott:
Trajectory optimization for walking robots with series elastic actuators. CDC 2014: 2964-2970 - [c53]Yusuke Ogawa, Gentiane Venture, Christian Ott:
Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces. Humanoids 2014: 457-462 - [c52]Bernd Henze, Alexander Werner, Máximo A. Roa, Gianluca Garofalo, Johannes Englsberger, Christian Ott:
Control applications of TORO - A Torque controlled humanoid robot. Humanoids 2014: 841 - [c51]Johannes Englsberger, Alexander Werner, Christian Ott, Bernd Henze, Máximo A. Roa, Gianluca Garofalo, Robert Burger, Alexander Beyer, Oliver Eiberger, Korbinian Schmid, Alin Albu-Schäffer:
Overview of the torque-controlled humanoid robot TORO. Humanoids 2014: 916-923 - [c50]Florian Petit, Christian Ott, Alin Albu-Schäffer:
A model-free approach to vibration suppression for intrinsically elastic robots. ICRA 2014: 2176-2182 - [c49]Kai Hu, Christian Ott, Dongheui Lee:
Online human walking imitation in task and joint space based on quadratic programming. ICRA 2014: 3458-3464 - [c48]Monika Florek-Jasinska, Thomas Wimböck, Christian Ott:
Humanoid compliant whole arm dexterous manipulation: Control design and experiments. IROS 2014: 1616-1621 - [c47]Bernd Henze, Christian Ott, Máximo A. Roa:
Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control. IROS 2014: 3253-3258 - [c46]Johannes Englsberger, Twan Koolen, Sylvain Bertrand, Jerry E. Pratt, Christian Ott, Alin Albu-Schäffer:
Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. IROS 2014: 4022-4029 - [c45]Christian Ott, Alexander Dietrich, Máximo A. Roa:
Torque-based multi-task and balancing control for humanoid robots. URAI 2014: 143-144 - 2013
- [c44]Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. ACC 2013: 5715-5721 - [c43]Dominic Lakatos, Gianluca Garofalo, Florian Petit, Christian Ott, Alin Albu-Schäffer:
Modal limit cycle control for variable stiffness actuated robots. ICRA 2013: 4934-4941 - [c42]Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
On the closed form computation of the dynamic matrices and their differentiations. IROS 2013: 2364-2359 - [c41]Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
Three-dimensional bipedal walking control using Divergent Component of Motion. IROS 2013: 2600-2607 - [c40]Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability. IROS 2013: 3043-3050 - [c39]Christian Ott, Bernd Henze, Dongheui Lee:
Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing. IROS 2013: 4615-4621 - 2012
- [j12]Johannes Englsberger, Christian Ott:
Gangstabilisierung humanoider Roboter mittels Capture Point Regelung. Autom. 60(11): 692-704 (2012) - [j11]Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger:
Comparison of object-level grasp controllers for dynamic dexterous manipulation. Int. J. Robotics Res. 31(1): 3-23 (2012) - [j10]Dana Kulic, Christian Ott, Dongheui Lee, Junichi Ishikawa, Yoshihiko Nakamura:
Incremental learning of full body motion primitives and their sequencing through human motion observation. Int. J. Robotics Res. 31(3): 330-345 (2012) - [c38]Johannes Englsberger, Christian Ott:
Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking. Humanoids 2012: 183-189 - [c37]Hiroshi Kaminaga, Johannes Englsberger, Christian Ott:
Kinematic optimization and online adaptation of swing foot trajectory for biped locomotion. Humanoids 2012: 593-599 - [c36]Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
Walking control of fully actuated robots based on the Bipedal SLIP model. ICRA 2012: 1456-1463 - [c35]Alexander Werner, Roberto Lampariello, Christian Ott:
Optimization-based generation and experimental validation of optimal walking trajectories for biped robots. IROS 2012: 4373-4379 - [c34]Manuel Krause, Johannes Englsberger, Pierre-Brice Wieber, Christian Ott:
Stabilization of the Capture Point Dynamics for Bipedal Walking Based on Model Predictive Control. SyRoCo 2012: 165-171 - [c33]Alin Albu-Schäffer, Christian Ott, Florian Petit:
Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems. SyRoCo 2012: 567-575 - [p1]Thomas Wimböck, Christian Ott:
Dual-Arm Manipulation. Towards Service Robots for Everyday Environments 2012: 353-366 - 2011
- [j9]Christian Ott, Dragomir N. Nenchev:
Preface. Adv. Robotics 25(5): 511-512 (2011) - [j8]Dongheui Lee, Christian Ott:
Incremental kinesthetic teaching of motion primitives using the motion refinement tube. Auton. Robots 31(2-3): 115-131 (2011) - [c32]Christian Ott, Máximo A. Roa, Gerd Hirzinger:
Posture and balance control for biped robots based on contact force optimization. Humanoids 2011: 26-33 - [c31]Dongheui Lee, Christian Ott, Yoshihiko Nakamura, Gerd Hirzinger:
Physical human robot interaction in imitation learning. ICRA 2011: 3439-3440 - [c30]Christian Ott, Jordi Artigas, Carsten Preusche:
Subspace-oriented energy distribution for the Time Domain Passivity Approach. IROS 2011: 665-671 - [c29]Johannes Englsberger, Christian Ott, Máximo A. Roa, Alin Albu-Schäffer, Gerhard Hirzinger:
Bipedal walking control based on Capture Point dynamics. IROS 2011: 4420-4427 - 2010
- [j7]Thomas Wimböck, Christoph Borst, Alin Albu-Schäffer, Christian Ott, Florian Schmidt, Matthias Fuchs, Werner Friedl, Oliver Eiberger, Andreas Baumann, Alexander Beyer, Gerd Hirzinger:
DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR's Two-Handed Humanoid Justin: System Design, Integration and Control). Autom. 58(11): 622-629 (2010) - [j6]Dongheui Lee, Christian Ott, Yoshihiko Nakamura:
Mimetic Communication Model with Compliant Physical Contact in Human - Humanoid Interaction. Int. J. Robotics Res. 29(13): 1684-1704 (2010) - [c28]Thomas Wimböck, Christian Ott, Gerd Hirzinger:
Immersion and invariance control for an antagonistic joint with nonlinear mechanical stiffness. CDC 2010: 1128-1135 - [c27]Christian Ott, Christoph Baumgärtner, Johannes Mayr, Matthias Fuchs, Robert Burger, Dongheui Lee, Oliver Eiberger, Alin Albu-Schäffer, Markus Grebenstein, Gerd Hirzinger:
Development of a biped robot with torque controlled joints. Humanoids 2010: 167-173 - [c26]Christian Ott, Ranjan Mukherjee, Yoshihiko Nakamura:
Unified Impedance and Admittance Control. ICRA 2010: 554-561 - [c25]Dongheui Lee, Christian Ott:
Incremental motion primitive learning by physical coaching using impedance control. IROS 2010: 4133-4140
2000 – 2009
- 2009
- [c24]Dongheui Lee, Christian Ott, Yoshihiko Nakamura:
Mimetic communication with impedance control for physical human-robot interaction. ICRA 2009: 1535-1542 - [c23]Christian Ott, Yoshihiko Nakamura:
Base force/torque sensing for position based Cartesian impedance control. IROS 2009: 3244-3250 - [c22]Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Sebastian Wolf, Christoph Borst, Gerd Hirzinger:
Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance. ISRR 2009: 185-207 - [c21]Christian Ott, Yoshihiko Nakamura:
Admittance Control using a Base Force/Torque Sensor.*. SyRoCo 2009: 467-472 - 2008
- [b1]Christian Ott:
Cartesian Impedance Control of Redundant and Flexible-Joint Robots. Springer Tracts in Advanced Robotics 49, Springer 2008, ISBN 978-3-540-69253-9, pp. 1-167 [contents] - [j5]Alin Albu-Schäffer, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimböck, Sebastian Wolf, Gerd Hirzinger:
Soft robotics. IEEE Robotics Autom. Mag. 15(3): 20-30 (2008) - [j4]Andreas Kugi, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger:
On the Passivity-Based Impedance Controlof Flexible Joint Robots. IEEE Trans. Robotics 24(2): 416-429 (2008) - [c20]Dana Kulic, Dongheui Lee, Christian Ott, Yoshihiko Nakamura:
Incremental learning of full body motion primitives for humanoid robots. Humanoids 2008: 326-332 - [c19]Christian Ott, Dongheui Lee, Yoshihiko Nakamura:
Motion capture based human motion recognition and imitation by direct marker control. Humanoids 2008: 399-405 - [c18]Thomas Wimböck, Christian Ott, Gerd Hirzinger:
Analysis and experimental evaluation of the Intrinsically Passive Controller (IPC) for multifingered hands. ICRA 2008: 278-284 - [c17]Christian Ott, Yoshihiko Nakamura:
Employing wave variables for coordinated control of robots with distributed control architecture. ICRA 2008: 575-582 - [c16]Christian Ott, Andreas Kugi, Yoshihiko Nakamura:
Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions. ICRA 2008: 1999-2004 - [c15]Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger:
Impedance control for variable stiffness mechanisms with nonlinear joint coupling. IROS 2008: 3796-3803 - 2007
- [j3]Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger:
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. Int. J. Robotics Res. 26(1): 23-39 (2007) - [j2]Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Gerhard Hirzinger:
The DLR lightweight robot: design and control concepts for robots in human environments. Ind. Robot 34(5): 376-385 (2007) - [c14]Christoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, Ulrich Hillenbrand, Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
A humanoid upper body system for two-handed manipulation. ICRA 2007: 2766-2767 - [c13]Thomas Wimböck, Christian Ott, Gerd Hirzinger:
Impedance Behaviors for Two-handed Manipulation: Design and Experiments. ICRA 2007: 4182-4189 - 2006
- [c12]Christian Ott, Oliver Eiberger, Werner Friedl, Berthold Bäuml, Ulrich Hillenbrand, Christoph Borst, Alin Albu-Schäffer, Bernhard Brunner, Heiko Hirschmüller, Simon Kielhöfer, Rainer Konietschke, Michael Suppa, Thomas Wimböck, Franziska Zacharias, Gerhard Hirzinger:
A Humanoid Two-Arm System for Dexterous Manipulation. Humanoids 2006: 276-283 - [c11]Tobias Ortmaier, Holger Weiss, Ulrich Hagn, Markus Grebenstein, Matthias Nickel, Alin Albu-Schäffer, Christian Ott, Stefan Jörg, Rainer Konietschke, Luc Le Tien, Gerd Hirzinger:
A Hands-on-robot for Accurate Placement of Pedicle Screws. ICRA 2006: 4179-4186 - [c10]Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger:
A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure. IROS 2006: 4502-4508 - [c9]Thomas Wimböck, Christian Ott, Gerd Hirzinger:
Passivity-based Object-Level Impedance Control for a Multifingered Hand. IROS 2006: 4621-4627 - 2005
- [j1]Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger:
Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz (Cartesian Impedance Control of Flexible Joint Robots: A Passivity Based Approach). Autom. 53(8): 378-388 (2005) - [c8]Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger:
Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems. ICRA 2005: 1387-1393 - [c7]Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger:
A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. ISRR 2005: 5-21 - 2004
- [c6]Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger:
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation. ICRA 2004: 2659-2665 - [c5]Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger:
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments. ICRA 2004: 2666-2672 - 2003
- [c4]Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger:
Decoupling based Cartesian impedance control of flexible joint robots. ICRA 2003: 3101-3107 - [c3]Alin Albu-Schäffer, Christian Ott, Udo Frese, Gerd Hirzinger:
Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms. ICRA 2003: 3704-3709 - 2002
- [c2]Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger:
Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator. IROS 2002: 2018-2024 - 2001
- [c1]Günter Schreiber, Christian Ott, Gerd Hirzinger:
Interactive redundant robotics: control of the inverted pendulum with nullspace motion. IROS 2001: 158-164
Coauthor Index
[j74] [j72] [j70] [j68] [i11] [j61] [c132] [c127] [j58] [j55] [j49] [j48] [j44] [c113] [c112] [c110] [c108] [j39] [j36] [c105] [c102] [i4] [j32] [j31] [j30] [c97] [c95] [c88] [c85] [c82] [j29] [j24] [j17] [c68] [c67] [c65] [c63] [j16] [j15] [j13] [c51] [c50] [c46] [c44] [c43] [c42] [c41] [c40] [j11] [c36] [c33] [c29] [j7] [c27] [c22] [j5] [j4] [c15] [j3] [j2] [c14] [c12] [c11] [c10] [j1] [c8] [c7] [c6] [c5] [c4] [c3] [c2]
Gerd Hirzinger
aka: Gerhard Hirzinger
aka: Gerhard Hirzinger
Florian Loeffl
aka: Florian Christoph Loeffl
aka: Florian Christoph Loeffl
Máximo A. Roa
aka: Máximo Alejandro Roa-Garzón
aka: Máximo Alejandro Roa-Garzón
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to record detail pages.
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Citation data
Add a list of citing articles from and to record detail pages.
load citations from opencitations.net
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OpenAlex data
Load additional information about publications from 
.
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last updated on 2024-05-24 22:33 CEST by the dblp team
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