Christian Ott 0001
157 publications
10 venues
H Index 42
Affiliation
TU Wien, AustriaGerman Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany
University of Tokyo, Department of Mechano Informatics, Japan
Saarland University, Saarbr cken, Germany
Links
| Name | Venue | Year | citations |
|---|---|---|---|
Efficiently Learning Robust Torque-Based Locomotion Through Reinforcement With Model-Based Supervision.
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IEEE Robotics and Automation Letters | 2026 | 2 |
| Enhancing the Force Transparency of Time Domain Passivity Approach: Prescient Energy Reflection.
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IEEE Robotics and Automation Letters | 2026 | 0 |
| Sampling-Aware Multi-Rate Combined Control for an Orbital Manipulator.
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IEEE Robotics and Automation Letters | 2026 | 0 |
| A Kinesthetic Teaching Framework for Tasks With Contact Transitions and Time-Optimized Execution.
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IEEE Robotics and Automation Letters | 2026 | 0 |
| Efficiently Learning Robust Torque-Based Locomotion Through Reinforcement With Model-Based Supervision.
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IEEE Robotics and Automation Letters | 2026 | 0 |
| Variable Stiffness Actuation via 3D-Printed Nonlinear Torsional Springs.
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IEEE Robotics and Automation Letters | 2025 | 1 |
| Partial Feedback Linearization Control of a Cable-Suspended Multirotor Platform for Stabilization of an Attached Load.
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IROS | 2025 | 1 |
| Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics.
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ICRA | 2025 | 3 |
| Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces.
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IROS | 2025 | 1 |
| Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks.
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IEEE Robotics and Automation Letters | 2025 | 3 |
| Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform.
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ICRA | 2024 | 5 |
| Impact Analysis for the Planning of Targeted Non-Slippage Impacts of Robot Manipulators.
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IEEE Robotics and Automation Letters | 2024 | 3 |
| Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region.
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Humanoids | 2024 | 5 |
| Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics.
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IEEE Robotics and Automation Letters | 2024 | 17 |
| Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstrations.
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ICRA | 2024 | 0 |
| Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases.
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Humanoids | 2023 | 5 |
| Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation.
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ICRA | 2023 | 11 |
| A Gravity Compensation Strategy for On-ground Validation of Orbital Manipulators.
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ICRA | 2023 | 8 |
| Hybrid Force-Impedance Control for Fast End-Effector Motions.
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IEEE Robotics and Automation Letters | 2023 | 63 |
| Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations.
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Humanoids | 2023 | 2 |
| Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks.
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IROS | 2023 | 3 |
| Agile and Dynamic Standing-Up Control for Humanoids Using 3D Divergent Component of Motion in Multi-Contact Scenario.
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IEEE Robotics and Automation Letters | 2023 | 4 |
| Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study.
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IROS | 2023 | 11 |
| Online Learning of Centroidal Angular Momentum towards Enhancing DCM-based Locomotion.
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ICRA | 2022 | 8 |
| A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion.
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Humanoids | 2022 | 4 |
| Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference.
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IEEE Robotics and Automation Letters | 2022 | 11 |
| Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators.
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IEEE Robotics and Automation Letters | 2022 | 5 |
| A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase.
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ICRA | 2022 | 5 |
| Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments.
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IEEE Robotics and Automation Letters | 2022 | 20 |
| Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators.
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IEEE Robotics and Automation Letters | 2022 | 16 |
| A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function.
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ICRA | 2022 | 10 |
| Planning Natural Locomotion for Articulated Soft Quadrupeds.
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ICRA | 2022 | 6 |
| Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions.
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Humanoids | 2022 | 1 |
| Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions.
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Humanoids | 2022 | 6 |
| A Generalized Index for Fault-Tolerant Control in Operational Space Under Free-Swinging Actuation Failure.
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IEEE Robotics and Automation Letters | 2022 | 3 |
| Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control.
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IEEE Robotics and Automation Letters | 2021 | 5 |
| Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa).
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IEEE Robotics and Automation Letters | 2021 | 16 |
| A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation.
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ICRA | 2021 | 3 |
| Compliant Floating-Base Control of Space Robots.
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IEEE Robotics and Automation Letters | 2021 | 11 |
| Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators.
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IEEE Robotics and Automation Letters | 2021 | 22 |
| Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery.
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IEEE Robotics and Automation Letters | 2021 | 26 |
| A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions.
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IEEE Robotics and Automation Letters | 2021 | 24 |
| Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference.
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IEEE Robotics and Automation Letters | 2021 | 8 |
| A Compliant Partitioned Shared Control Strategy for an Orbital Robot.
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IEEE Robotics and Automation Letters | 2021 | 7 |
| Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion.
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ICRA | 2021 | 12 |
| Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator.
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ICRA | 2020 | 22 |
| Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters.
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ICRA | 2020 | 30 |
| Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds.
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IEEE Robotics and Automation Letters | 2020 | 15 |
| The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach With Preservation of Physical Coupling Behavior.
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IEEE Robotics and Automation Letters | 2020 | 9 |
| Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots.
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IEEE Robotics and Automation Letters | 2020 | 0 |
| Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces.
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IROS | 2020 | 6 |
| Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor.
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ICRA | 2020 | 21 |
| Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance.
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IEEE Robotics and Automation Letters | 2020 | 13 |
| Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation.
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ICRA | 2020 | 17 |
| Coordination of thrusters, reaction wheels, and arm in orbital robots.
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Robotics and Autonomous Systems | 2020 | 19 |
| MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks.
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RSS | 2020 | 16 |
| FingerTac - A Wearable Tactile Thimble for Mobile Haptic Augmented Reality Applications.
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HCI | 2020 | 13 |
| Joint-Level Control of the DLR Lightweight Robot SARA.
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IROS | 2020 | 37 |
| Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration.
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ICRA | 2019 | 66 |
| Multi-Rate Tracking Control for a Space Robot on a Controlled Satellite: A Passivity-Based Strategy.
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IEEE Robotics and Automation Letters | 2019 | 30 |
| Vibration Control for Manipulators on a Translationally Flexible Base.
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ICRA | 2019 | 11 |
| Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks.
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IEEE Robotics and Automation Letters | 2019 | 37 |
| Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots.
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Humanoids | 2019 | 5 |
| Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees.
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ICRA | 2019 | 7 |
| Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model.
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IEEE Robotics and Automation Letters | 2019 | 13 |
| Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots.
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IEEE Robotics and Automation Letters | 2019 | 50 |
| Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control.
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Humanoids | 2019 | 66 |
| Development of SAM: cable-Suspended Aerial Manipulator
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ICRA | 2019 | 0 |
| Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots.
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IROS | 2018 | 13 |
| A Stabilizing Controller for Regulation of UAV With Manipulator.
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IEEE Robotics and Automation Letters | 2018 | 45 |
| Torque-Based Dynamic Walking - A Long Way from Simulation to Experiment.
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ICRA | 2018 | 33 |
| DCM-Based Gait Generation for Walking on Moving Support Surfaces.
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Humanoids | 2018 | 15 |
| An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base.
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ICRA | 2018 | 16 |
| Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots.
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IROS | 2018 | 3 |
| Passive Compliance Control of Aerial Manipulators.
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IROS | 2018 | 18 |
| Humanoid Teleoperation Using Task-Relevant Haptic Feedback.
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IROS | 2018 | 39 |
| A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism.
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IEEE Robotics and Automation Letters | 2018 | 15 |
| Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation.
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ICRA | 2018 | 18 |
| Passivity Analysis and Control of Humanoid Robots on Movable Ground.
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IEEE Robotics and Automation Letters | 2018 | 18 |
| The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case.
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IEEE Robotics and Automation Letters | 2018 | 37 |
| Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion.
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IEEE Robotics and Automation Letters | 2018 | 26 |
| Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts.
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IROS | 2017 | 30 |
| Optimal and robust walking using intrinsic properties of a series-elastic robot.
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Humanoids | 2017 | 7 |
| Enhancing joint torque control of series elastic actuators with physical damping.
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ICRA | 2017 | 25 |
| Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion.
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ICRA | 2017 | 13 |
| Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization.
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IROS | 2017 | 25 |
| Enabling robot assisted landing of heavy UAV rotorcraft via combined control and workload sharing.
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IROS | 2017 | 2 |
| Passive Hierarchical Impedance Control Via Energy Tanks.
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IEEE Robotics and Automation Letters | 2017 | 57 |
| Smooth trajectory generation and push-recovery based on Divergent Component of Motion.
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IROS | 2017 | 46 |
| Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots.
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IROS | 2017 | 12 |
| Passivity-based control of underactuated biped robots within hybrid zero dynamics approach.
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ICRA | 2017 | 26 |
| The DLR C-runner: Concept, design and experiments.
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Humanoids | 2016 | 8 |
| A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots.
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ICRA | 2016 | 27 |
| Limit Cycle Control Using Energy Function Regulation With Friction Compensation.
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IEEE Robotics and Automation Letters | 2016 | 10 |
| Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks.
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IEEE Robotics and Automation Letters | 2016 | 41 |
| Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios.
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IJRR | 2016 | 190 |
| An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots.
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IEEE Robotics and Automation Letters | 2016 | 65 |
| Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach.
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Humanoids | 2016 | 2 |
| A passivity-based admittance control design using feedback interconnections.
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IROS | 2016 | 10 |
| Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin.
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Autonomous Robots | 2016 | 0 |
| Biologically inspired deadbeat control for running on 3D stepping stones.
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Humanoids | 2015 | 10 |
| An adaptive compliant multi-finger approach-to-grasp strategy for objects with position uncertainties.
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ICRA | 2015 | 21 |
| Online iterative learning control of zero-moment point for biped walking stabilization.
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ICRA | 2015 | 11 |
| Biologically Inspired Dead-beat controller for bipedal running in 3D.
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IROS | 2015 | 3 |
| An overview of null space projections for redundant, torque-controlled robots.
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IJRR | 2015 | 234 |
| Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion.
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IROS | 2014 | 67 |
| Overview of the torque-controlled humanoid robot TORO.
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Humanoids | 2014 | 282 |
| A model-free approach to vibration suppression for intrinsically elastic robots.
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ICRA | 2014 | 23 |
| Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control.
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IROS | 2014 | 64 |
| Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces.
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Humanoids | 2014 | 26 |
| Humanoid compliant whole arm dexterous manipulation: Control design and experiments.
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IROS | 2014 | 14 |
| Online human walking imitation in task and joint space based on quadratic programming.
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ICRA | 2014 | 41 |
| Control applications of TORO - A Torque controlled humanoid robot.
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Humanoids | 2014 | 0 |
| Three-dimensional bipedal walking control using Divergent Component of Motion.
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IROS | 2013 | 135 |
| Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability.
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IROS | 2013 | 55 |
| Modal limit cycle control for variable stiffness actuated robots.
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ICRA | 2013 | 22 |
| On the closed form computation of the dynamic matrices and their differentiations.
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IROS | 2013 | 62 |
| Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing.
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IROS | 2013 | 29 |
| Walking control of fully actuated robots based on the Bipedal SLIP model.
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ICRA | 2012 | 95 |
| Incremental learning of full body motion primitives and their sequencing through human motion observation.
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IJRR | 2012 | 246 |
| Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking.
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Humanoids | 2012 | 64 |
| Comparison of object-level grasp controllers for dynamic dexterous manipulation.
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IJRR | 2012 | 95 |
| Optimization-based generation and experimental validation of optimal walking trajectories for biped robots.
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IROS | 2012 | 20 |
| Kinematic optimization and online adaptation of swing foot trajectory for biped locomotion.
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Humanoids | 2012 | 6 |
| Posture and balance control for biped robots based on contact force optimization.
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Humanoids | 2011 | 274 |
| Bipedal walking control based on Capture Point dynamics.
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IROS | 2011 | 294 |
| Incremental kinesthetic teaching of motion primitives using the motion refinement tube.
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Autonomous Robots | 2011 | 191 |
| Subspace-oriented energy distribution for the Time Domain Passivity Approach.
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IROS | 2011 | 32 |
| Physical human robot interaction in imitation learning.
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ICRA | 2011 | 13 |
| Incremental motion primitive learning by physical coaching using impedance control.
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IROS | 2010 | 47 |
| Unified Impedance and Admittance Control.
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ICRA | 2010 | 341 |
| Development of a biped robot with torque controlled joints.
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Humanoids | 2010 | 82 |
| Mimetic Communication Model with Compliant Physical Contact in Human - Humanoid Interaction.
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IJRR | 2010 | 0 |
| Base force/torque sensing for position based Cartesian impedance control.
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IROS | 2009 | 31 |
| Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance.
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ISRR | 2009 | 47 |
| Mimetic communication with impedance control for physical human-robot interaction.
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ICRA | 2009 | 22 |
| Employing wave variables for coordinated control of robots with distributed control architecture.
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ICRA | 2008 | 10 |
| Impedance control for variable stiffness mechanisms with nonlinear joint coupling.
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IROS | 2008 | 48 |
| Analysis and experimental evaluation of the Intrinsically Passive Controller (IPC) for multifingered hands.
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ICRA | 2008 | 35 |
| Incremental learning of full body motion primitives for humanoid robots.
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Humanoids | 2008 | 49 |
| Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions.
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ICRA | 2008 | 65 |
| Motion capture based human motion recognition and imitation by direct marker control.
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Humanoids | 2008 | 137 |
| Impedance Behaviors for Two-handed Manipulation: Design and Experiments.
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ICRA | 2007 | 83 |
| A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
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IJRR | 2007 | 749 |
| A humanoid upper body system for two-handed manipulation.
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ICRA | 2007 | 64 |
| A Humanoid Two-Arm System for Dexterous Manipulation.
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Humanoids | 2006 | 252 |
| A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure.
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IROS | 2006 | 23 |
| A Hands-on-robot for Accurate Placement of Pedicle Screws.
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ICRA | 2006 | 87 |
| Passivity-based Object-Level Impedance Control for a Multifingered Hand.
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IROS | 2006 | 91 |
| Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems.
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ICRA | 2005 | 19 |
| A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
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ISRR | 2005 | 0 |
| A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation.
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ICRA | 2004 | 176 |
| A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments.
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ICRA | 2004 | 154 |
| Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms.
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ICRA | 2003 | 294 |
| Decoupling based Cartesian impedance control of flexible joint robots.
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ICRA | 2003 | 69 |
| Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator.
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IROS | 2002 | 54 |
| Interactive redundant robotics: control of the inverted pendulum with nullspace motion.
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IROS | 2001 | 23 |