Christian Ott

262 papers A* 46A 34B 1C 8Journal 110Unranked 58
YearRankTypeTitle / Venue / Authors
2026 J jnl
A Kinesthetic Teaching Framework for Tasks With Contact Transitions and Time-Optimized Execution.
IEEE Robotics Autom. Lett.
Nikolas Thelenberg, Christian Ott
2026 J jnl
Efficiently Learning Robust Torque-Based Locomotion Through Reinforcement With Model-Based Supervision.
IEEE Robotics Autom. Lett.
Yashuai Yan, Tobias Egle, Christian Ott, Dongheui Lee
2026 J jnl
Efficiently Learning Robust Torque-based Locomotion Through Reinforcement with Model-Based Supervision.
CoRR
Yashuai Yan, Tobias Egle, Christian Ott, Dongheui Lee
2026 J jnl
Enhancing the Force Transparency of Time Domain Passivity Approach: Prescient Energy Reflection.
IEEE Robotics Autom. Lett.
Michael Panzirsch, Harsimran Singh, Jee-Hwan Ryu, Christian Ott
2026 J jnl
Sampling-Aware Multi-Rate Combined Control for an Orbital Manipulator.
IEEE Robotics Autom. Lett.
Ria Vijayan, Marco De Stefano, Christian Ott
2026 J jnl
Unidirectional virtual inerter for high-bandwidth robot motion control.
Int. J. Robotics Res.
Hyeonseok Choi, Nam Gyun Kim, Seungjoon Baek, Christian Ott, Jee-Hwan Ryu
2025 J jnl
An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems.
CoRR
Sait Sovukluk, Christian Ott
2025 J jnl
Elastic Structure Preserving Control for Flexible Joint Robots With Position-Controlled Actuators.
IEEE Trans. Control. Syst. Technol.
Jerónimo Moyrón, Christian Ott, Annika Kirner, Javier Moreno-Valenzuela
2025 A conf
Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces.
IROS
Sait Sovukluk, Grazia Zambella, Tobias Egle, Christian Ott
2025 J jnl
Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces.
CoRR
Sait Sovukluk, Grazia Zambella, Tobias Egle, Christian Ott
2025 J jnl
Humanoid Robot Running Through Random Stepping Stones and Jumping Over Obstacles: Step Adaptation Using Spring-Mass Trajectories.
CoRR
Sait Sovukluk, Johannes Englsberger, Christian Ott
2025 J jnl
Is There a Closed-Loop Lagrangian for Hierarchical Motion Control?
IEEE Control. Syst. Lett.
Hrishik Mishra, Marco De Stefano, Christian Ott
2025 J jnl
Learning Swing-up Maneuvers for a Suspended Aerial Manipulation Platform in a Hierarchical Control Framework.
CoRR
Hemjyoti Das, Minh Nhat Vu, Christian Ott
2025 J jnl
Motion Planning for Humanoid Locomotion: Applications to Homelike Environments.
IEEE Robotics Autom. Mag.
George Mesesan, Robert Schuller, Johannes Englsberger, Máximo A. Roa, Jinoh Lee, Christian Ott, Alin Albu-Schäffer
2025 A conf
Partial Feedback Linearization Control of a Cable-Suspended Multirotor Platform for Stabilization of an Attached Load.
IROS
Hemjyoti Das, Christian Ott
2025 J jnl
Partial Feedback Linearization Control of a Cable-Suspended Multirotor Platform for Stabilization of an Attached Load.
CoRR
Hemjyoti Das, Christian Ott
2025 J jnl
Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks.
IEEE Robotics Autom. Lett.
Erling Tveter, Bjørn Kåre Sæbø, Christian Ott, Kristin Y. Pettersen, Jan Tommy Gravdahl
2025 — conf
Perceptual-based Method for Mitigating Force Chattering in Time Domain Passivity Approach.
HAPTICS
Harsimran Singh, Michael Panzirsch, Ribin Balachandran, Jee-Hwan Ryu, Christian Ott, Thomas Hulin
2025 A* conf
Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics.
ICRA
Sait Sovukluk, Robert Schuller, Johannes Englsberger, Christian Ott
2025 J jnl
Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics.
CoRR
Sait Sovukluk, Robert Schuller, Johannes Englsberger, Christian Ott
2025 J jnl
Variable Stiffness Actuation via 3D-Printed Nonlinear Torsional Springs.
IEEE Robotics Autom. Lett.
Hannes Höppner, Annika Kirner, Joshua Göttlich, Linnéa Jakob, Alexander Dietrich, Christian Ott
2025 J jnl
Whole-Body Stabilization of a Cable-Suspended Multirotor Platform Carrying a Slung Load.
IEEE Trans Autom. Sci. Eng.
Hemjyoti Das, Grazia Zambella, Christian Ott
2024 J jnl
An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints.
Frontiers Robotics AI
Robert Schuller, Jens Reinecke, Henry Maurenbrecher, Christian Ott, Alin Albu-Schäffer, Bastian Deutschmann, Fred Buettner, Jens Heim, Frank Benkert, Stefan Glueck
2024 — conf
Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region.
Humanoids
Tobias Egle, Yashuai Yan, Dongheui Lee, Christian Ott
2024 J jnl
Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region.
CoRR
Tobias Egle, Yashuai Yan, Dongheui Lee, Christian Ott
2024 J jnl
Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics.
IEEE Robotics Autom. Lett.
Sait Sovukluk, Johannes Englsberger, Christian Ott
2024 J jnl
Impact Analysis for the Planning of Targeted Non-Slippage Impacts of Robot Manipulators.
IEEE Robotics Autom. Lett.
Annika Kirner, Christian Ott
2024 A* conf
Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform.
ICRA
Hemjyoti Das, Minh Nhat Vu, Tobias Egle, Christian Ott
2024 J jnl
Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform.
CoRR
Hemjyoti Das, Minh Nhat Vu, Tobias Egle, Christian Ott
2024 — conf
On Handling Variable Stiffness Parameters in Compliance Control via MPC.
ECC
Nikolas Thelenberg, Christian Ott
2024 J jnl
Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction.
IEEE Trans. Haptics
Huseyin Tugcan Dinc, Thomas Hulin, Christian Ott, Jee-Hwan Ryu
2024 J jnl
Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstration.
CoRR
Shail Jadav, Johannes Heidersberger, Christian Ott, Dongheui Lee
2024 A* conf
Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstrations.
ICRA
Shail Jadav, Johannes Heidersberger, Christian Ott, Dongheui Lee
2023 A* conf
A Gravity Compensation Strategy for On-ground Validation of Orbital Manipulators.
ICRA
Marco De Stefano, Ria Vijayan, Andreas Stemmer, Ferdinand Elhardt, Christian Ott
2023 J jnl
A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework.
IEEE Control. Syst. Lett.
Michael Rothammer, Andre Coelho, Hrishik Mishra, Christian Ott, Antonio Franchi, Alin Albu-Schäffer
2023 J jnl
Agile and Dynamic Standing-Up Control for Humanoids Using 3D Divergent Component of Motion in Multi-Contact Scenario.
IEEE Robotics Autom. Lett.
Grazia Zambella, Robert Schuller, George Mesesan, Antonio Bicchi, Christian Ott, Jinoh Lee
2023 — conf
Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations.
Humanoids
Sait Sovukluk, Christian Ott, Mustafa Mert Ankarali
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 A conf
Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks.
IROS
Hemjyoti Das, Bjørn Kåre Sæbø, Kristin Y. Pettersen, Christian Ott
2023 A* conf
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation.
ICRA
Yuri S. Sarkisov, Andre Coelho, Maihara Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak
2023 J jnl
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation.
CoRR
Yuri S. Sarkisov, Andre Coelho, Maihara Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak
2023 J jnl
Hybrid Force-Impedance Control for Fast End-Effector Motions.
IEEE Robotics Autom. Lett.
Maged Iskandar, Christian Ott, Alin Albu-Schäffer, Bruno Siciliano, Alexander Dietrich
2023 J jnl
Passive Decoupled Multitask Controller for Redundant Robots.
IEEE Trans. Control. Syst. Technol.
Xuwei Wu, Christian Ott, Alin Albu-Schäffer, Alexander Dietrich
2023 J jnl
Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots.
IEEE Control. Syst. Lett.
Xuming Meng, Manuel Keppler, Christian Ott
2023 J jnl
Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications.
IEEE Trans. Robotics
Hrishik Mishra, Gianluca Garofalo, Alessandro Massimo Giordano, Marco De Stefano, Christian Ott, Andreas Kugi
2023 — conf
Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases.
Humanoids
Tobias Egle, Johannes Englsberger, Christian Ott
2023 J jnl
Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion.
IEEE Trans. Robotics
George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2023 A conf
Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study.
IROS
Sait Sovukluk, Johannes Englsberger, Christian Ott
2022 C conf
A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot.
ACC
Xuwei Wu, Christian Ott, Alexander Dietrich
2022 A* conf
A Detumbling Strategy for an Orbital Manipulator in the Post-Grasp Phase.
ICRA
Ria Vijayan, Marco De Stefano, Christian Ott
2022 J jnl
A Generalized Index for Fault-Tolerant Control in Operational Space Under Free-Swinging Actuation Failure.
IEEE Robotics Autom. Lett.
Yisoo Lee, Nikos G. Tsagarakis, Christian Ott, Jinoh Lee
2022 — conf
A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion.
Humanoids
Konrad Fründ, Anton Leonhard Shu, Florian Christoph Loeffl, Christian Ott
2022 A* conf
A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function.
ICRA
Jinyeong Jeong, Hrishik Mishra, Christian Ott, Min Jun Kim
2022 J jnl
Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators.
IEEE Robotics Autom. Lett.
Xuwei Wu, Annika Kirner, Gianluca Garofalo, Christian Ott, Paul Kotyczka, Alexander Dietrich
2022 — conf
Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions.
Humanoids
Tobias Egle, Johannes Englsberger, Christian Ott
2022 J jnl
Deflection-Domain Passivity Control of Variable Stiffnesses Based on Potential Energy Reference.
IEEE Robotics Autom. Lett.
Michael Panzirsch, Marek Sierotowicz, Revanth Prakash, Harsimran Singh, Christian Ott
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
Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems.
IEEE Control. Syst. Lett.
George Jose Pollayil, Xuming Meng, Manuel Keppler, Martin Pfanne, Antonio Bicchi, Christian Ott
2022 J jnl
Exploring planet geology through force-feedback telemanipulation from orbit.
Sci. Robotics
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
2022 A* conf
Online Learning of Centroidal Angular Momentum towards Enhancing DCM-based Locomotion.
ICRA
Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott
2022 J jnl
Passive Impedance Control of Robots With Viscoelastic Joints Via Inner-Loop Torque Control.
IEEE Trans. Robotics
Min Jun Kim, Alexander Werner, Florian Loeffl, Christian Ott
2022 A* conf
Planning Natural Locomotion for Articulated Soft Quadrupeds.
ICRA
Mathew Jose Pollayil, Cosimo Della Santina, George Mesesan, Johannes Englsberger, Daniel Seidel, Manolo Garabini, Christian Ott, Antonio Bicchi, Alin Albu-Schäffer
2022 J jnl
Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments.
IEEE Robotics Autom. Lett.
Manuel Keppler, Clara Raschel, David Wandinger, Andreas Stemmer, Christian Ott
2022 J jnl
Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators.
IEEE Trans. Robotics
Youssef Michel, Christian Ott, Dongheui Lee
2022 J jnl
Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators.
IEEE Robotics Autom. Lett.
Marie Harder, Manuel Keppler, Xuming Meng, Christian Ott, Hannes Höppner, Alexander Dietrich
2022 — conf
Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions.
Humanoids
Fabian Beck, Maximilian Rehermann, Johann Reger, Christian Ott
2021 J jnl
A Compliant Partitioned Shared Control Strategy for an Orbital Robot.
IEEE Robotics Autom. Lett.
Hrishik Mishra, Ribin Balachandran, Marco De Stefano, Christian Ott
2021 A* conf
A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation.
ICRA
Ribin Balachandran, Hrishik Mishra, Michael Panzirsch, Christian Ott
2021 J jnl
A Relative Dynamics Formulation for Hardware- in-the-Loop Simulation of On-Orbit Robotic Missions.
IEEE Robotics Autom. Lett.
Marco De Stefano, Hrishik Mishra, Alessandro M. Giordano, Roberto Lampariello, Christian Ott
2021 J jnl
Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators.
IEEE Robotics Autom. Lett.
Gianluca Garofalo, Xuwei Wu, Christian Ott
2021 J jnl
Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control.
IEEE Robotics Autom. Lett.
Manuel Keppler, Florian Loeffl, David Wandinger, Clara Raschel, Christian Ott
2021 J jnl
Compliant Floating-Base Control of Space Robots.
IEEE Robotics Autom. Lett.
Alessandro M. Giordano, Davide Calzolari, Marco De Stefano, Hrishik Mishra, Christian Ott, Alin Albu-Schäffer
2021 J jnl
Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa).
IEEE Robotics Autom. Lett.
Riccardo Mengacci, Manuel Keppler, Martin Pfanne, Antonio Bicchi, Christian Ott
2021 — conf
Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation.
ECC
Xuming Meng, Manuel Keppler, Christian Ott
2021 — conf
From Space to Earth - Relative-CoM-to-Foot (RCF) control yields high contact robustness.
HUMANOIDS
Johannes Englsberger, Alessandro M. Giordano, Achraf Hiddane, Robert Schuller, Florian Loeffl, George Mesesan, Christian Ott
2021 J jnl
Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases.
Frontiers Robotics AI
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
2021 J jnl
Online Centroidal Angular Momentum Reference Generation and Motion Optimization for Humanoid Push Recovery.
IEEE Robotics Autom. Lett.
Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Christian Ott
2021 A* conf
Online DCM Trajectory Adaptation for Push and Stumble Recovery during Humanoid Locomotion.
ICRA
George Mesesan, Johannes Englsberger, Christian Ott
2021 — conf
Online Virtual Repellent Point Adaptation for Biped Walking using Iterative Learning Control.
HUMANOIDS
Shengzhi Wang, George Mesesan, Johannes Englsberger, Dongheui Lee, Christian Ott
2021 J jnl
Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference.
IEEE Robotics Autom. Lett.
Ribin Balachandran, Michael Panzirsch, Marco De Stefano, Harsimran Singh, Christian Ott, Alin Albu-Schäffer
2021 J jnl
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation.
J. Intell. Robotic Syst.
Andre Coelho, Yuri S. Sarkisov, Xuwei Wu, Hrishik Mishra, Harsimran Singh, Alexander Dietrich, Antonio Franchi, Konstantin Kondak, Christian Ott
2020 C conf
A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target.
ACC
Hrishik Mishra, Marco De Stefano, Alessandro M. Giordano, Roberto Lampariello, Christian Ott
2020 J jnl
Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots.
IEEE Robotics Autom. Lett.
Moritz Maier, Manuel Keppler, Christian Ott, Alin Albu-Schäffer
2020 A* conf
Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters.
ICRA
Ribin Balachandran, Hrishik Mishra, Matteo Cappelli, Bernhard M. Weber, Cristian Secchi, Christian Ott, Alin Albu-Schäffer
2020 — book
Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users - The Experience of the European Robotics Challenges
EuRoC
Fabrizio Caccavale, Christian Ott, Bernd Winkler, Zachary Taylor
2020 A* conf
Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation.
ICRA
Ribin Balachandran, Jee-Hwan Ryu, Mikael Jorda, Christian Ott, Alin Albu-Schäffer
2020 J jnl
Coordination of thrusters, reaction wheels, and arm in orbital robots.
Robotics Auton. Syst.
Alessandro M. Giordano, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2020 — conf
Ensuring Stable and Transparent High Stiffness Haptic Interaction Using Successive Force Augmention with Time Domain Passivity Approach.
ISER
Harsimran Singh, Michael Rothammer, Chan-Il Lee, Thomas Hulin, Jee-Hwan Ryu, Christian Ott
2020 — conf
FingerTac - A Wearable Tactile Thimble for Mobile Haptic Augmented Reality Applications.
HCI (10)
Thomas Hulin, Michael Rothammer, Isabel Tannert, Suraj Subramanyam Giri, Benedikt Pleintinger, Harsimran Singh, Bernhard M. Weber, Christian Ott
2020 J jnl
Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots.
IEEE Trans. Robotics
Alexander Dietrich, Christian Ott
2020 J jnl
Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds.
IEEE Robotics Autom. Lett.
Gianluca Garofalo, Christian Ott
2020 A conf
Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces.
IROS
Hrishik Mishra, Alessandro M. Giordano, Marco De Stefano, Roberto Lampariello, Christian Ott
2020 A conf
Joint-Level Control of the DLR Lightweight Robot SARA.
IROS
Maged Iskandar, Christian Ott, Oliver Eiberger, Manuel Keppler, Alin Albu-Schäffer, Alexander Dietrich
2020 — conf
MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks.
Robotics: Science and Systems
Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2020 — conf
On the Control of Translationally Flexible Base Manipulators.
ECC
Gianluca Garofalo, Fabian Beck, Julian Klodmann, Christian Ott
2020 A* conf
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor.
ICRA
Yuri S. Sarkisov, Min Jun Kim, Andre Coelho, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak
2020 J jnl
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor.
CoRR
Yuri S. Sarkisov, Min Jun Kim, Andre Coelho, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak
2020 — conf
Output Feedback Stabilization of an Orbital Robot.
CDC
Hrishik Mishra, Marco De Stefano, Alessandro M. Giordano, Christian Ott
2020 J jnl
Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance.
IEEE Robotics Autom. Lett.
Harsimran Singh, Michael Panzirsch, Andre Coelho, Christian Ott
2020 J jnl
The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach With Preservation of Physical Coupling Behavior.
IEEE Robotics Autom. Lett.
Michael Panzirsch, Harsimran Singh, Christian Ott
2020 — ch.
The EuRoC Platforms.
EuRoC
Daniel Braun, Markus Achtelik, Christian Ott, Bernd Winkler, Zachary Taylor
2020 A* conf
Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator.
ICRA
Andre Coelho, Harsimran Singh, Konstantin Kondak, Christian Ott
2020 J jnl
Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator.
CoRR
Andre Coelho, Harsimran Singh, Konstantin Kondak, Christian Ott
2019 C conf
A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements.
ACC
Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano, Christian Ott
2019 J jnl
A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements.
CoRR
Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano, Christian Ott
2019 J jnl
A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions.
CoRR
Min Jun Kim, Woongyong Lee, Jae Yeon Choi, Goo Bong Chung, Kyung-Lyong Han, Il Seop Choi, Christian Ott, Wan Kyun Chung
2019 — conf
Assessment of a Supervisory Fault-Hiding Scheme in a Classical Guidance, Navigation and Control Setup: the e.Deorbit mission.
SysTol
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
2019 J jnl
Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots.
IEEE Robotics Autom. Lett.
Alessandro Massimo Giordano, Christian Ott, Alin Albu-Schäffer
2019 A* conf
Development of SAM: cable-Suspended Aerial Manipulator
ICRA
Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
2019 J jnl
Development of SAM: cable-Suspended Aerial Manipulator.
CoRR
Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak
2019 — conf
Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control.
Humanoids
George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2019 A* conf
Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees.
ICRA
Bernd Henze, Máximo A. Roa, Alexander Werner, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2019 J jnl
Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases.
IEEE Robotics Autom. Mag.
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
2019 — conf
Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots.
Humanoids
Juan Miguel García-Haro, Bernd Henze, George Mesesan, Santiago Martínez de la Casa Díaz, Christian Ott
2019 J jnl
Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop.
IEEE Control. Syst. Lett.
Gianluca Garofalo, Alexander Werner, Florian Loeffl, Christian Ott
2019 J jnl
Model-Free Friction Observers for Flexible Joint Robots With Torque Measurements.
IEEE Trans. Robotics
Min Jun Kim, Fabian Beck, Christian Ott, Alin Albu-Schäffer
2019 — conf
Model-based fault diagnosis and tolerant control: the ESA's e.Deorbit mission.
ECC
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
2019 J jnl
Model-free Friction Observers for Flexible Joint Robots with Torque Measurements.
CoRR
Min Jun Kim, Fabian Beck, Christian Ott, Alin Albu-Schäffer
2019 — conf
Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation.
ICAR
Andre Coelho, Christian Ott, Harsimran Singh, Fernando C. Lizarralde, Konstantin Kondak
2019 J jnl
Multi-DoF Time Domain Passivity Approach based Drift Compensation for Telemanipulation.
CoRR
Andre Coelho, Christian Ott, Harsimran Singh, Fernando C. Lizarralde, Konstantin Kondak
2019 J jnl
Multi-Rate Tracking Control for a Space Robot on a Controlled Satellite: A Passivity-Based Strategy.
IEEE Robotics Autom. Lett.
Marco De Stefano, Hrishik Mishra, Ribin Balachandran, Roberto Lampariello, Christian Ott, Cristian Secchi
2019 J jnl
Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model.
IEEE Robotics Autom. Lett.
Bastian Deutschmann, Maxime Chalon, Jens Reinecke, Maximilian Maier, Christian Ott
2019 A* conf
Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration.
ICRA
Gianluca Garofalo, Nico Mansfeld, Julius Jankowski, Christian Ott
2019 J jnl
Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks.
IEEE Robotics Autom. Lett.
Firas Abi-Farraj, Bernd Henze, Christian Ott, Paolo Robuffo Giordano, Máximo A. Roa
2019 A* conf
Vibration Control for Manipulators on a Translationally Flexible Base.
ICRA
Fabian Beck, Gianluca Garofalo, Christian Ott
2018 J jnl
A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism.
IEEE Robotics Autom. Lett.
Bastian Deutschmann, Tong Liu, Alexander Dietrich, Christian Ott, Dongheui Lee
2018 J jnl
A Stabilizing Controller for Regulation of UAV With Manipulator.
IEEE Robotics Autom. Lett.
Min Jun Kim, Konstantin Kondak, Christian Ott
2018 A* conf
An Energy-Based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base.
ICRA
Marco De Stefano, Ribin Balachandran, Alessandro M. Giordano, Christian Ott, Cristian Secchi
2018 J jnl
Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion.
IEEE Robotics Autom. Lett.
George Mesesan, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2018 — conf
DCM-Based Gait Generation for Walking on Moving Support Surfaces.
Humanoids
Johannes Englsberger, George Mesesan, Christian Ott, Alin Albu-Schäffer
2018 J jnl
Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots.
IEEE Trans. Robotics
Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
2018 A conf
Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots.
IROS
Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
2018 B conf
Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control.
Intelligent Vehicles Symposium
Michael Panzirsch, Harsimran Singh, Martin Stelzer, Martin J. Schuster, Christian Ott, Manuel Ferre
2018 A conf
Humanoid Teleoperation Using Task-Relevant Haptic Feedback.
IROS
Firas Abi-Farraj, Bernd Henze, Alexander Werner, Michael Panzirsch, Christian Ott, Máximo A. Roa
2018 — conf
Non-Linear Local Force Feedback Control for Haptic Interfaces
SyRoCo
Ribin Balachandran, Natalia Kozlova, Christian Ott, Alin Albu-Schäffer
2018 — conf
Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses
SyRoCo
Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott
2018 J jnl
Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses.
CoRR
Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott
2018 A conf
Passive Compliance Control of Aerial Manipulators.
IROS
Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott
2018 J jnl
Passive Compliance Control of Aerial Manipulators.
CoRR
Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott
2018 — conf
Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control.
SyRoCo
Gianluca Garofalo, Christian Ott
2018 J jnl
Passivity Analysis and Control of Humanoid Robots on Movable Ground.
IEEE Robotics Autom. Lett.
Bernd Henze, Ribin Balachandran, Máximo Alejandro Roa-Garzón, Christian Ott, Alin Albu-Schäffer
2018 — conf
Robust
SyRoCo
Anton Leonhard Shu, Bastian Deutschmann, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2018 A conf
Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots.
IROS
Alexander Werner, Bernd Henze, Manuel Keppler, Florian Loeffl, Sigrid Leyendecker, Christian Ott
2018 — conf
Task-space Tracking Control for Underactuated Aerial Manipulators.
ECC
Gianluca Garofalo, Fabian Beck, Christian Ott
2018 J jnl
The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case.
IEEE Robotics Autom. Lett.
Alexander Dietrich, Christian Ott, Jaeheung Park
2018 A* conf
Torque-Based Dynamic Walking - A Long Way from Simulation to Experiment.
ICRA
Johannes Englsberger, George Mesesan, Alexander Werner, Christian Ott
2018 — conf
Tracking Control with Robotic Systems for a Moving Target: A Vector Lyapunov Function Approach.
SyRoCo
Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano, Christian Ott
2018 — conf
Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots.
ECC
Manuel Keppler, Dominic Lakatos, Alexander Werner, Florian Loeffl, Christian Ott, Alin Albu-Schäffer
2018 A* conf
Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation.
ICRA
Kristin Bussmann, Alexander Dietrich, Christian Ott
2017 J jnl
Continuous Legged Locomotion Planning.
IEEE Trans. Robotics
Nicolas Perrin, Christian Ott, Johannes Englsberger, Olivier Stasse, Florent Lamiraux, Darwin G. Caldwell
2017 A* conf
Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion.
ICRA
George Mesesan, Johannes Englsberger, Bernd Henze, Christian Ott
2017 A conf
Enabling robot assisted landing of heavy UAV rotorcraft via combined control and workload sharing.
IROS
Moritz Maier, Konstantin Kondak, Christian Ott
2017 J jnl
Energy Based Limit Cycle Control of Elastically Actuated Robots.
IEEE Trans. Autom. Control.
Gianluca Garofalo, Christian Ott
2017 A* conf
Enhancing joint torque control of series elastic actuators with physical damping.
ICRA
Min Jun Kim, Alexander Werner, Florian Christoph Loeffl, Christian Ott
2017 J jnl
External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots.
IEEE Trans. Robotics
Teodor Tomic, Christian Ott, Sami Haddadin
2017 A conf
Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots.
IROS
Alexander Werner, Wojciech Turlej, Christian Ott
2017 A conf
Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization.
IROS
Nico Mansfeld, Badis Djellab, Jaime Raldua Veuthey, Fabian Beck, Christian Ott, Sami Haddadin
2017 A conf
Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts.
IROS
Bernd Henze, Alexander Dietrich, Máximo A. Roa, Christian Ott
2017 — conf
Optimal and robust walking using intrinsic properties of a series-elastic robot.
Humanoids
Alexander Werner, Bernd Henze, Florian Loeffl, Sigrid Leyendecker, Christian Ott
2017 J jnl
Passive Hierarchical Impedance Control Via Energy Tanks.
IEEE Robotics Autom. Lett.
Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Christian Ott, Alin Albu-Schäffer, Stefano Stramigioli
2017 A* conf
Passivity-based control of underactuated biped robots within hybrid zero dynamics approach.
ICRA
Hamid Sadeghian, Christian Ott, Gianluca Garofalo, Gordon Cheng
2017 — conf
Position control of an underactuated continuum mechanism using a reduced nonlinear model.
CDC
Bastian Deutschmann, Alexander Dietrich, Christian Ott
2017 — conf
Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation.
HFR
Gianluca Garofalo, Christian Ott
2017 — conf
Robust Motion Control of a Soft Robotic System Using Fractional Order Control.
RAAD
Bastian Deutschmann, Christian Ott, Concepción A. Monje, Carlos Balaguer
2017 A conf
Smooth trajectory generation and push-recovery based on Divergent Component of Motion.
IROS
Johannes Englsberger, George Mesesan, Christian Ott
2017 J jnl
Whole-Body Control [TC Spotlight].
IEEE Robotics Autom. Mag.
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
2016 A conf
A passivity-based admittance control design using feedback interconnections.
IROS
Min Jun Kim, Woongyong Lee, Christian Ott, Wan Kyun Chung
2016 A* conf
A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots.
ICRA
Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
2016 — conf
A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots.
CDC
Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
2016 J jnl
An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots.
IEEE Robotics Autom. Lett.
Bernd Henze, Alexander Dietrich, Christian Ott
2016 J jnl
Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back.
IEEE Trans. Robotics
Johannes Englsberger, Pawel Kozlowski, Christian Ott, Alin Albu-Schäffer
2016 — conf
Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta.
CDC
Alessandro M. Giordano, Gianluca Garofalo, Marco De Stefano, Christian Ott, Alin Albu-Schäffer
2016 — conf
Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach.
Humanoids
Hamid Sadeghian, Christian Ott, Gordon Cheng
2016 J jnl
Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots.
IEEE Robotics Autom. Mag.
Christian Ott, Bernd Henze, Georg Hettich, Tim Niklas Seyde, Máximo A. Roa, Vittorio Lippi, Thomas Mergner
2016 — conf
Integrating Measured Force Feedback in Passive Multilateral Teleoperation.
EuroHaptics (1)
Michael Panzirsch, Thomas Hulin, Jordi Artigas, Christian Ott, Manuel Ferre
2016 J jnl
Learning and Generalization of Compensative Zero-Moment Point Trajectory for Biped Walking.
IEEE Trans. Robotics
Kai Hu, Christian Ott, Dongheui Lee
2016 — ch.
Limbed Systems.
Springer Handbook of Robotics, 2nd Ed.
Shuuji Kajita, Christian Ott
2016 J jnl
Limit Cycle Control Using Energy Function Regulation With Friction Compensation.
IEEE Robotics Autom. Lett.
Gianluca Garofalo, Christian Ott
2016 C conf
Maximal input limits for independent SISO control in modal space under consideration of actuator constraints.
ACC
Nico Mansfeld, Christian Ott, Sami Haddadin
2016 J jnl
Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks.
IEEE Robotics Autom. Lett.
Alexander Dietrich, Christian Ott, Stefano Stramigioli
2016 J jnl
Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios.
Int. J. Robotics Res.
Bernd Henze, Máximo A. Roa, Christian Ott
2016 — conf
The DLR C-runner: Concept, design and experiments.
Humanoids
Florian Loeffl, Alexander Werner, Dominic Lakatos, Jens Reinecke, Sebastian Wolf, Robert Burger, Thomas Gumpert, Florian Schmidt, Christian Ott, Markus Grebenstein, Alin Albu-Schäffer
2016 J jnl
Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin.
Auton. Robots
Alexander Dietrich, Kristin Bussmann, Florian Petit, Paul Kotyczka, Christian Ott, Boris Lohmann, Alin Albu-Schäffer
2015 — conf
A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework.
ICIRA (2)
Zhaopeng Chen, Christian Ott, Neal Y. Lii
2015 J jnl
A Hybrid System Framework for Unified Impedance and Admittance Control.
J. Intell. Robotic Syst.
Christian Ott, Ranjan Mukherjee, Yoshihiko Nakamura
2015 A* conf
An adaptive compliant multi-finger approach-to-grasp strategy for objects with position uncertainties.
ICRA
Zhaopeng Chen, Thomas Wimböck, Máximo A. Roa, Benedikt Pleintinger, Miguel Neves, Christian Ott, Christoph Borst, Neal Y. Lii
2015 J jnl
An overview of null space projections for redundant, torque-controlled robots.
Int. J. Robotics Res.
Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2015 A conf
Biologically Inspired Dead-beat controller for bipedal running in 3D.
IROS
Johannes Englsberger, Pawel Kozlowski, Christian Ott
2015 — conf
Biologically inspired deadbeat control for running on 3D stepping stones.
Humanoids
Johannes Englsberger, Pawel Kozlowski, Christian Ott
2015 — conf
Increasing the Performance of Torque-based Visual Servoing by applying Time Domain Passivity.
SyRoCo
Phillip Schmidt, Jordi Artigas, Marco De Stefano, Ribin Balachandran, Christian Ott
2015 C conf
On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations.
ACC
Gianluca Garofalo, Johannes Englsberger, Christian Ott
2015 A* conf
Online iterative learning control of zero-moment point for biped walking stabilization.
ICRA
Kai Hu, Christian Ott, Dongheui Lee
2015 J jnl
Prioritized multi-task compliance control of redundant manipulators.
Autom.
Christian Ott, Alexander Dietrich, Alin Albu-Schäffer
2015 J jnl
Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion.
IEEE Trans. Robotics
Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2014 A* conf
A model-free approach to vibration suppression for intrinsically elastic robots.
ICRA
Florian Petit, Christian Ott, Alin Albu-Schäffer
2014 — conf
Control applications of TORO - A Torque controlled humanoid robot.
Humanoids
Bernd Henze, Alexander Werner, Máximo A. Roa, Gianluca Garofalo, Johannes Englsberger, Christian Ott
2014 — conf
Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces.
Humanoids
Yusuke Ogawa, Gentiane Venture, Christian Ott
2014 A conf
Humanoid compliant whole arm dexterous manipulation: Control design and experiments.
IROS
Monika Florek-Jasinska, Thomas Wimböck, Christian Ott
2014 A* conf
Online human walking imitation in task and joint space based on quadratic programming.
ICRA
Kai Hu, Christian Ott, Dongheui Lee
2014 — conf
Overview of the torque-controlled humanoid robot TORO.
Humanoids
Johannes Englsberger, Alexander Werner, Christian Ott, Bernd Henze, Máximo A. Roa, Gianluca Garofalo, Robert Burger, Alexander Beyer, Oliver Eiberger, Korbinian Schmid, Alin Albu-Schäffer
2014 A conf
Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control.
IROS
Bernd Henze, Christian Ott, Máximo A. Roa
2014 — conf
Torque-based multi-task and balancing control for humanoid robots.
URAI
Christian Ott, Alexander Dietrich, Máximo A. Roa
2014 A conf
Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion.
IROS
Johannes Englsberger, Twan Koolen, Sylvain Bertrand, Jerry E. Pratt, Christian Ott, Alin Albu-Schäffer
2014 — conf
Trajectory optimization for walking robots with series elastic actuators.
CDC
Alexander Werner, Roberto Lampariello, Christian Ott
2013 A conf
Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing.
IROS
Christian Ott, Bernd Henze, Dongheui Lee
2013 A* conf
Modal limit cycle control for variable stiffness actuated robots.
ICRA
Dominic Lakatos, Gianluca Garofalo, Florian Petit, Christian Ott, Alin Albu-Schäffer
2013 A conf
Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability.
IROS
Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2013 A conf
On the closed form computation of the dynamic matrices and their differentiations.
IROS
Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2013 C conf
Orbital stabilization of mechanical systems through semidefinite Lyapunov functions.
ACC
Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2013 A conf
Three-dimensional bipedal walking control using Divergent Component of Motion.
IROS
Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2012 J jnl
Comparison of object-level grasp controllers for dynamic dexterous manipulation.
Int. J. Robotics Res.
Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger
2012 — ch.
Dual-Arm Manipulation.
Towards Service Robots for Everyday Environments
Thomas Wimböck, Christian Ott
2012 — conf
Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems.
SyRoCo
Alin Albu-Schäffer, Christian Ott, Florian Petit
2012 J jnl
Gangstabilisierung humanoider Roboter mittels Capture Point Regelung.
Autom.
Johannes Englsberger, Christian Ott
2012 J jnl
Incremental learning of full body motion primitives and their sequencing through human motion observation.
Int. J. Robotics Res.
Dana Kulic, Christian Ott, Dongheui Lee, Junichi Ishikawa, Yoshihiko Nakamura
2012 — conf
Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking.
Humanoids
Johannes Englsberger, Christian Ott
2012 — conf
Kinematic optimization and online adaptation of swing foot trajectory for biped locomotion.
Humanoids
Hiroshi Kaminaga, Johannes Englsberger, Christian Ott
2012 A conf
Optimization-based generation and experimental validation of optimal walking trajectories for biped robots.
IROS
Alexander Werner, Roberto Lampariello, Christian Ott
2012 — conf
Stabilization of the Capture Point Dynamics for Bipedal Walking Based on Model Predictive Control.
SyRoCo
Manuel Krause, Johannes Englsberger, Pierre-Brice Wieber, Christian Ott
2012 A* conf
Walking control of fully actuated robots based on the Bipedal SLIP model.
ICRA
Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2011 A conf
Bipedal walking control based on Capture Point dynamics.
IROS
Johannes Englsberger, Christian Ott, Máximo A. Roa, Alin Albu-Schäffer, Gerhard Hirzinger
2011 J jnl
Incremental kinesthetic teaching of motion primitives using the motion refinement tube.
Auton. Robots
Dongheui Lee, Christian Ott
2011 A* conf
Physical human robot interaction in imitation learning.
ICRA
Dongheui Lee, Christian Ott, Yoshihiko Nakamura, Gerd Hirzinger
2011 — conf
Posture and balance control for biped robots based on contact force optimization.
Humanoids
Christian Ott, Máximo A. Roa, Gerd Hirzinger
2011 J jnl
Preface.
Adv. Robotics
Christian Ott, Dragomir N. Nenchev
2011 A conf
Subspace-oriented energy distribution for the Time Domain Passivity Approach.
IROS
Christian Ott, Jordi Artigas, Carsten Preusche
2010 J jnl
DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR's Two-Handed Humanoid Justin: System Design, Integration and Control).
Autom.
Thomas Wimböck, Christoph Borst, Alin Albu-Schäffer, Christian Ott, Florian Schmidt, Matthias Fuchs, Werner Friedl, Oliver Eiberger, Andreas Baumann, Alexander Beyer, Gerd Hirzinger
2010 — conf
Development of a biped robot with torque controlled joints.
Humanoids
Christian Ott, Christoph Baumgärtner, Johannes Mayr, Matthias Fuchs, Robert Burger, Dongheui Lee, Oliver Eiberger, Alin Albu-Schäffer, Markus Grebenstein, Gerd Hirzinger
2010 — conf
Immersion and invariance control for an antagonistic joint with nonlinear mechanical stiffness.
CDC
Thomas Wimböck, Christian Ott, Gerd Hirzinger
2010 A conf
Incremental motion primitive learning by physical coaching using impedance control.
IROS
Dongheui Lee, Christian Ott
2010 J jnl
Mimetic Communication Model with Compliant Physical Contact in Human - Humanoid Interaction.
Int. J. Robotics Res.
Dongheui Lee, Christian Ott, Yoshihiko Nakamura
2010 A* conf
Unified Impedance and Admittance Control.
ICRA
Christian Ott, Ranjan Mukherjee, Yoshihiko Nakamura
2009 — conf
Admittance Control using a Base Force/Torque Sensor.
SyRoCo
Christian Ott, Yoshihiko Nakamura
2009 C conf
Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance.
ISRR
Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Sebastian Wolf, Christoph Borst, Gerd Hirzinger
2009 A conf
Base force/torque sensing for position based Cartesian impedance control.
IROS
Christian Ott, Yoshihiko Nakamura
2009 A* conf
Mimetic communication with impedance control for physical human-robot interaction.
ICRA
Dongheui Lee, Christian Ott, Yoshihiko Nakamura
2008 A* conf
Analysis and experimental evaluation of the Intrinsically Passive Controller (IPC) for multifingered hands.
ICRA
Thomas Wimböck, Christian Ott, Gerd Hirzinger
2008 — book
Cartesian Impedance Control of Redundant and Flexible-Joint Robots
Christian Ott
2008 A* conf
Employing wave variables for coordinated control of robots with distributed control architecture.
ICRA
Christian Ott, Yoshihiko Nakamura
2008 A conf
Impedance control for variable stiffness mechanisms with nonlinear joint coupling.
IROS
Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger
2008 — conf
Incremental learning of full body motion primitives for humanoid robots.
Humanoids
Dana Kulic, Dongheui Lee, Christian Ott, Yoshihiko Nakamura
2008 — conf
Motion capture based human motion recognition and imitation by direct marker control.
Humanoids
Christian Ott, Dongheui Lee, Yoshihiko Nakamura
2008 J jnl
On the Passivity-Based Impedance Controlof Flexible Joint Robots.
IEEE Trans. Robotics
Andreas Kugi, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger
2008 A* conf
Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions.
ICRA
Christian Ott, Andreas Kugi, Yoshihiko Nakamura
2008 J jnl
Soft robotics.
IEEE Robotics Autom. Mag.
Alin Albu-Schäffer, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimböck, Sebastian Wolf, Gerd Hirzinger
2007 J jnl
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
Int. J. Robotics Res.
Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger
2007 A* conf
A humanoid upper body system for two-handed manipulation.
ICRA
Christoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, Ulrich Hillenbrand, Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2007 A* conf
Impedance Behaviors for Two-handed Manipulation: Design and Experiments.
ICRA
Thomas Wimböck, Christian Ott, Gerd Hirzinger
2007 J jnl
The DLR lightweight robot: design and control concepts for robots in human environments.
Ind. Robot
Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Gerhard Hirzinger
2006 A conf
A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure.
IROS
Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger
2006 A* conf
A Hands-on-robot for Accurate Placement of Pedicle Screws.
ICRA
Tobias Ortmaier, Holger Weiss, Ulrich Hagn, Markus Grebenstein, Matthias Nickel, Alin Albu-Schäffer, Christian Ott, Stefan Jörg, Rainer Konietschke, Luc Le Tien, Gerd Hirzinger
2006 — conf
A Humanoid Two-Arm System for Dexterous Manipulation.
Humanoids
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
2006 A conf
Passivity-based Object-Level Impedance Control for a Multifingered Hand.
IROS
Thomas Wimböck, Christian Ott, Gerd Hirzinger
2005 C conf
A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
ISRR
Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger
2005 A* conf
Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems.
ICRA
Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger
2005 J jnl
Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz (Cartesian Impedance Control of Flexible Joint Robots: A Passivity Based Approach).
Autom.
Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger
2004 A* conf
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation.
ICRA
Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger
2004 A* conf
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments.
ICRA
Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger
2003 A* conf
Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms.
ICRA
Alin Albu-Schäffer, Christian Ott, Udo Frese, Gerd Hirzinger
2003 A* conf
Decoupling based Cartesian impedance control of flexible joint robots.
ICRA
Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger
2002 A conf
Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator.
IROS
Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger
2001 A conf
Interactive redundant robotics: control of the inverted pendulum with nullspace motion.
IROS
Günter Schreiber, Christian Ott, Gerd Hirzinger