Arne Sachtler

17 papers C 1Journal 12Unranked 4
YearRankTypeTitle / Venue / Authors
2025 J jnl
When do Lyapunov Subcenter Manifolds become Eigenmanifolds?
CoRR
Yannik P. Wotte, Arne Sachtler, Alin Albu-Schäffer, Stefano Stramigioli, Cosimo Della Santina
2024 — conf
Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint.
ECC
Annika Schmidt, Filip Pasic, Davide Calzolari, Arne Sachtler, Thomas Gumpert, Manuel Keppler, Alin Albu-Schäffer
2024 J jnl
Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks.
PLoS Comput. Biol.
Annika Schmidt, Marion Forano, Arne Sachtler, Davide Calzolari, Bernhard M. Weber, David W. Franklin, Alin Albu-Schäffer
2024 — conf
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes.
ECC
Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
2024 J jnl
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes.
CoRR
Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
2023 J jnl
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems.
CoRR
Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi
2023 J jnl
Redundancy Resolution at Position Level.
IEEE Trans. Robotics
Alin Albu-Schäffer, Arne Sachtler
2023 J jnl
Segmentation and Coverage Planning of Freeform Geometries for Robotic Surface Finishing.
IEEE Robotics Autom. Lett.
Stefan Schneyer, Arne Sachtler, Thomas Eiband, Korbinian Nottensteiner
2022 — conf
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems.
CDC
Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi
2022 J jnl
Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot.
IEEE Robotics Autom. Lett.
Filip Bjelonic, Arne Sachtler, Alin Albu-Schäffer, Cosimo Della Santina
2022 J jnl
Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry.
IEEE Robotics Autom. Lett.
Michael Dyck, Arne Sachtler, Julian Klodmann, Alin Albu-Schäffer
2022 J jnl
Quasi-Orthogonal Foliations of the Configuration Space - A Redundancy Resolution Approach at Position Level.
CoRR
Alin Albu-Schäffer, Arne Sachtler
2022 J jnl
Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow.
IEEE Robotics Autom. Lett.
Arne Sachtler, Alin Albu-Schäffer
2022 C conf
What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots?
ISRR
Alin Albu-Schäffer, Arne Sachtler
2022 J jnl
What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots?
CoRR
Alin Albu-Schäffer, Arne Sachtler
2021 J jnl
Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution.
J. Intell. Robotic Syst.
Korbinian Nottensteiner, Arne Sachtler, Alin Albu-Schäffer
2019 — conf
Combined Visual and Touch-based Sensing for the Autonomous Registration of Objects with Circular Features.
ICAR
Arne Sachtler, Korbinian Nottensteiner, Michael Kaßecker, Alin Albu-Schäffer