Robot Control

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Robotics

Publications

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and I...	2024
Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cob...	2023
Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm	2023
Model-Based Control for Soft Robots With System Uncertainties and Input Saturation	2023
Time-optimal control of a visco-elastic joint	2023
A Nonlinear Observer for a Flexible Robot Arm and its Use in Fault and Collision Detection	2022
Exploiting Robot Redundancy for Online Learning and Control	2022
Feedback Regulation of Elastically Decoupled Underactuated Soft Robots	2022
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints	2022
On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics	2022
On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics	2022
On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics	2022
P-satI-D Shape Regulation of Soft Robots	2022
Reduced-Order Observer Design for Robot Manipulators	2022
Regulation by Iterative Learning in Continuum Soft Robots	2022
Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy	2021
Fault-tolerant formation control of a team of quadrotors with a suspended payload	2021
Motion Control of Redundant Robots with Generalised Inequality Constraints	2021
Motion Control of Redundant Robots with Generalised Inequality Constraints	2021
Multi-sensor coordination in human-robot interaction	2020-02-21
Detection and isolation of actuator faults and collisions for a flexible robot arm	2020
Detection and isolation of actuator faults and collisions for a flexible robot arm	2020
Human-robot coexistence and interaction in open industrial cells	2020
Human-robot coexistence and interaction in open industrial cells	2020
Human-robot contactless collaboration with mixed reality interface	2020
Human-robot contactless collaboration with mixed reality interface	2020
Least Conservative Linearized Constraint Formulation for Real-Time Motion Generation	2020
Linear-quadratic optimal boundary control of a one-link flexible arm	2020
Linear-quadratic optimal boundary control of a one-link flexible arm	2020
Linear-quadratic optimal boundary control of a one-link flexible arm	2020
On Time-Optimal Control of Elastic Joints under Input Constraints	2020
Task Priority Matrix at the Acceleration Level: Collision Avoidance Under Relaxed Constraints	2020
Task Priority Matrix at the Acceleration Level: Collision Avoidance Under Relaxed Constraints	2020
Task Priority Matrix at the Acceleration Level: Collision Avoidance Under Relaxed Constraints	2020
Task Priority Matrix Under Hard Joint Constraints	2020
Time-Optimal Trajectory Planning for Flexible Joint Robots	2020
Wheeled robots	2020
Optimal redundancy control for robot manipulators	2019-02-26
A genetic algorithm-based method for the mechanical characterization of biosamples using a MEMS micr...	2019
An online learning procedure for feedback linearization control without torque measurements	2019
An online learning procedure for feedback linearization control without torque measurements	2019
Force, orientation and position control in redundant manipulators in prioritized scheme with null sp...	2019
Stable Torque Optimization for Redundant Robots Using a Short Preview	2019
Stable Torque Optimization for Redundant Robots Using a Short Preview	2019
Vision-based navigation of omnidirectional mobile robots	2019
A model-based residual approach for human-robot collaboration during manual polishing operations	2018
Faster Motion on Cartesian Paths Exploiting Robot Redundancy at the Acceleration Level	2018
Hierarchical tracking task control in redundant manipulators with compliance control in the null-spa...	2018
Multi-sensor control system for safe human-robot collaboration	2018
Non-linear model predictive control with adaptive time-mesh refinement	2018
Actuator Design of Compliant Walkers via Optimal Control	2017
Fast Motion on Cartesian Paths by Exploiting Robot Redundancy at the Acceleration Level	2017
Repeatable Motion Planning for Redundant Robots over Cyclic Tasks	2017
Repeatable Motion Planning for Redundant Robots over Cyclic Tasks	2017
Robot Collisions: A Survey on Detection, Isolation, and Identification	2017
Visual coordination task for human-robot collaboration	2017
Combining real and virtual sensors for measuring interaction forces and moments acting on a robot	2016
Efficient computation of inverse dynamics and feedback linearization for VSA-based robots	2016
Hybrid force/velocity control for physical human-robot collaboration tasks	2016
Learning soft task priorities for control of redundant robots	2016
Port-based modeling of human-robot collaboration towards safety-enhancing energy shaping control	2016
Redundant Robots	2016
Robots with flexible elements	2016
A Depth Space Approach for Evaluating Distance to Objects -- with Application to Human-Robot Collisi...	2015
A recursive Newton-Euler algorithm for robots with elastic joints and its application to control	2015
Control of generalized contact motion and force in physical human-robot interaction	2015
Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space	2015
Discrete-time Redundancy Resolution at the Velocity Level with Acceleration/Torque Optimization Prop...	2015
Stability and Variable Admittance Control in the Physical Interaction with a Mobile Robot	2015
Unilateral constraints in the Reverse Priority redundancy resolution method	2015
A pure signal-based stiffness estimation for VSA devices	2014
A Reverse Priority approach to multi-task control of redundant robots	2014
Discrete-time velocity control of redundant robots with acceleration/torque optimization properties	2014
Estimation of contact forces using a virtual force sensor	2014
Fast redundancy resolution for high-dimensional robots executing prioritized tasks under hard bounds...	2013
Human-robot physical interaction and collaboration using an industrial robot with a closed control a...	2013
Motion Control of the CyberCarpet Platform	2013
Optimal redundancy resolution with task scaling under hard bounds in the robot joint space	2013
A depth space approach to human-robot collision avoidance	2012
Integrated control for pHRI: Collision avoidance, detection, reaction and collaboration	2012
Motion control of redundant robots under joint constraints: Saturation in the null space	2012
Predictive gaze control of a redundant humanoid robot head [Prädiktive Blickregelung für einen redun...	2012
Prioritized multi-task motion control of redundant robots under hard joint constraints	2012
Vision-based loitering over a target for a fixed-wing UAV	2012
Vision-based odometric localization for humanoids using a kinematic EKF	2012
A PD-type regulator with exact gravity cancellation for robots with flexible joints	2011
CyberWalk: Enabling Unconstrained Omnidirectional Walking through Virtual Environments	2011
Stiffness estimation and nonlinear control of robots with variable stiffness actuation	2011
Energy-based control of the Butterfly robot	2006
Rest to rest motion for planar multi-link flexible manipulators through backward recursion	2004
Rest-to-rest motion for planar multi-link flexible manipulator	2003