Modal Nonlinear Resonance for Efficient and Versatile Legged Locomotion

Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg

Author(s): A. Sesselmann, F. Loeffl, C. Della Santina, M. Roa Garzon, A. Albu-Schäffer
Published in: IROS, IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue September 2021, 2021
Publisher: IEEE

Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots

Author(s): Pietro Pustina, Davide Calzolari, Alin Albu-Schäffer, Alessandro De Luca, Cosimo Della Santina
Published in: 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), 2024, Page(s) 779-785
Publisher: IEEE
DOI: 10.1109/robosoft60065.2024.10521987

Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes

Author(s): Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
Published in: 2024 European Control Conference (ECC), Issue Proceedings, 2024, Page(s) 2392-2398
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10590854

Dynamic Development and Qualification of a Modular using DCM and Passivity-based Whole-body Control

Author(s): G. Mesesan, J. Englsberger, G. Garofalo, C. Ott, A. Albu-Schäffer
Published in: RAS International Conference on Humanoid Robots, Issue October 2019, 2019
Publisher: IEEE
DOI: 10.1109/humanoids43949.2019.9035053

Quadrupedal template model for parametric stability analysis of trotting gaits

Author(s): Boffa, Lorenzo; Sesselmann, Anna; Roa Garzon, Máximo Alejandro
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2021, Page(s) 916-922, ISBN 978-1-6654-1715-0
Publisher: IEEE
DOI: 10.1109/iros51168.2021.9635974

Using Elastically Actuated Legged Robots in Rough Terrain: Experiments with DLR Quadruped bert

Author(s): Daniel Seidel, Milan Hermann, Thomas Gumpert, Florian C. Loeffl, Alin Albu-Schaffer
Published in: 2020 IEEE Aerospace Conference, Issue 07.03.2020, 2020, Page(s) 1-8, ISBN 978-1-7281-2734-7
Publisher: IEEE
DOI: 10.1109/aero47225.2020.9172301

Energy and angular momentum control of robot running

Author(s): Alessandro M. Giordano, Simone Stivala, Davide Calzolari, Alin Albu-Schäffer
Published in: 2023 31st Mediterranean Conference on Control and Automation (MED), 2024, Page(s) 554-561
Publisher: IEEE
DOI: 10.1109/med59994.2023.10185799

Single-Leg Forward Hopping via Nonlinear Modes

Author(s): Calzolari, Davide; Della Santina, Cosimo; Giordano, Alessandro Massimo; Albu-Schäffer, Alin Olimpiu
Published in: ACC, American Control Conference, Issue Proceedings, 2022, Page(s) 506-513, ISBN 978-1-6654-5196-3
Publisher: IEEE
DOI: 10.23919/acc53348.2022.9867538

MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks

Author(s): J. Englsberger, A. Dietrich, G. Mesesan, C. Ott, A. Albu-Schäffer
Published in: RSS, Robotics: Science and Systems, Issue Juli 2020, 2020
Publisher: RSS Foundation

Swing-Up of a Double, Triple and Quadruple Pendulum via Nonlinear Normal Modes

Author(s): A. Sachtler, A. Albu-Schäffer, C. Della Santina
Published in: ENOC 2024 - Book of Abstracts, 11th European Nonlinear Dynamics Conference, 2024
Publisher: ENOC

Planning Natural Locomotion for Articulated Soft Quadrupeds

Author(s): Mathew Jose Pollayil; Cosimo Della Santina; George Mesesan; Johannes Englsberger; Daniel Seidel; Manolo Garabini; Christian Ott; Antonio Bicchi; Alin Albu-Schaffer
Published in: ICRA, 2022 International Conference on Robotics and Automation, 2022, Page(s) 6593-6599, ISBN 978-1-7281-9682-4
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9812416

Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions

Author(s): Fabian Beck, Maximilian Rehermann, Johann Reger, Christian Ott
Published in: Humanoids, 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Issue Proceedings, 2022, Page(s) 261-268, ISSN 2164-0580
Publisher: IEEE
DOI: 10.1109/humanoids53995.2022.10000146

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems

Author(s): Andre Coelho; Alin Albu-Schäffer; Arne Sachtler; Hrishik Mishra; Davide Bicego; Christian Ott; Antonio Franchi
Published in: CDC, 2022 IEEE 61st Conference on Decision and Control, 2022, Page(s) 2437-2442, ISBN 978-1-6654-6762-9
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992915

Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case

Author(s): Annika Schmidt; Thomas Gumpert; Stefan Schreiber; Alin Albu-Schäffer
Published in: AIM, IEEE/ASME, International Conference on Advanced Intelligent Mechatronics, 2022, Page(s) 1144-1151, ISBN 978-1-6654-1309-1
Publisher: AIM, IEEE/ASME
DOI: 10.1109/aim52237.2022.9863397

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

Author(s): Della Santina, D. Lakatos, A. Bicchi, A. Albu-Schäffer
Published in: CDC, IEEE Conference on Decision and Contro, 2021, Page(s) 2448-2455, ISSN 2589-0042
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683228

A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots

Author(s): Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl, Florian Schmidt, Daniel Seidel, Alin Albu-Schaffer
Published in: 2019 International Conference on Robotics and Automation (ICRA), Issue 12 August 2019, 2019, Page(s) 9509-9515, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8793920

Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint

Author(s): Annika Schmidt, Filip Pasic, Davide Calzolari, Arne Sachtler, Thomas Gumpert, Manuel Keppler, Alin Albu-Schäffer
Published in: 2024 European Control Conference (ECC), 2024, Page(s) 2194-2199
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10591121

An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots

Author(s): Christian Ott, Fabian Beck, Manuel Keppler
Published in: SYROCO, 13th IFAC Symposium on Robot Control, Issue Proceedings, 2022, Page(s) 113–119, ISSN 2405-8963
Publisher: IFAC
DOI: 10.1016/j.ifacol.2023.01.142

Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits

Author(s): Delfatti, Federico; Sesselmann, Anna; Roa Garzon, Máximo Alejandro
Published in: IROS, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue Proceedings, 2022, Page(s) 5869-5876, ISBN 978-1-6654-7927-1
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9982204

A review on nonlinear modes in conservative mechanical systems

Author(s): Alin Albu-Schäffer, Cosimo Della Santina
Published in: Annual Reviews in Control, Issue 50, 2020, Page(s) 49-71, ISSN 1367-5788
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.arcontrol.2020.10.002

Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Author(s): Cosimo Della Santina, Alin Albu-Schaeffer
Published in: IEEE Control Systems Letters, Issue 22 December 2020, 2020, Page(s) 1-1, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3048228

Redundancy Resolution at Position Level

Author(s): Alin Albu-Schäffer; Arne Sachtler
Published in: IEEE Transactions on Robotics, Issue vol. 39, no. 6, 2023, Page(s) 4240-4261, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3309097

Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic

Author(s): Davide Calzolari, Alessandro Massimo Giordano, Alin Albu-Schaffer
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 1231-1238, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2967315

An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks

Author(s): Raffin, Antonin; Sigaud, Olivier; Kober, Jens; Albu-Schäffer, Alin Olimpiu; Silverio, Joao; Stulp, Freek
Published in: Reinforcement Learning Journal (RLJ), Issue 3, 2024, ISSN 2996-8569
Publisher: Thomas, Philip S.
DOI: 10.5281/zenodo.13899776

Passivity-based motion and force tracking control for constrained elastic joint robots

Author(s): Xuming Meng, Manuel Keppler, Christian Ott
Published in: IEEE Control Systems Letters, Issue vol. 7, 2023, Page(s) 217-222, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2022.3187345

Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case

Author(s): L. Bonacchi, M. Roa, A. Sesselmann, F. Loeffl, A. Albu-Schäffer, C. Della Santina
Published in: Robotics and Automation Letters, Issue vol. 6, no. 2, 2021, Page(s) 2555-2562, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061345

From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots

Author(s): Manuel Keppler, Christian Ott, Alin Albu‐Schäffer
Published in: International Journal of Robust and Nonlinear Control, Issue Volume 32, Issue 9, 2022, Page(s) 5453-5484, ISSN 1099-1239
Publisher: John Wiley & Sons
DOI: 10.1002/rnc.6102

Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia

Author(s): Davide Calzolari, Cosimo Della Santina, Alin Albu-Schaffer
Published in: IEEE Control Systems Letters, Issue 5/2, 2021, Page(s) 445-450, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3004196

PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case

Author(s): Davide Calzolari, Cosimo Della Santina, Alin Albu-Schaffer
Published in: IEEE Control Systems Letters, Issue 22. December 2020, 2020, Page(s) 1-1, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2020.3046538

Robust stabilization of elastic joint robots by ESP and PID control: theory and experiments

Author(s): Manuel Keppler, Clara Raschel, David Wandinger, Andreas Stemmer, Christian Ott
Published in: IEEE Robotics and Automation Letters, Issue vol. 7, no. 3, 2022, Page(s) 8283-8290, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3187277

Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions

Author(s): C. Della Santina, D. Calzolari, A. Giordano, A. Albu-Schäffer
Published in: Robotics and Automation Letters, Issue vol. 6, no. 2, 2021, Page(s) 2783-2790, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061391

Strict Modes Everywhere - Bringing Order into Dynamics of Mechanical Systems by a Potential Compatible with the Geodesic Flow

Author(s): A. Sachtler, A. Albu-Schäffer
Published in: Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3142921

Biological data questions the support of the self inhibition required for pattern generation in the half center model

Author(s): Matthias Kohler, Philipp Stratmann, Florian Röhrbein, Alois Knoll, Alin Albu-Schäffer, Henrik Jörntell
Published in: PLOS ONE, Issue 15/9, 2020, Page(s) e0238586, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0238586

Surfaces for Ultrasound Scanning Using Discrete Differential Geometry

Author(s): M. Dyck, A. Sachtler, J. Klodmann, A. Albu-Schäffer
Published in: Robotics and Automation Letters, Issue Vol. 7, No. 3, 2022, Page(s) 7738-7746, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3184800

Strict Nonlinear Normal Modes of Systems Characterized by Scalar Functions on Riemannian Manifolds

Author(s): A. Albu-Schäffer, D. Lakatos, S. Stramigioli
Published in: Robotics and Automation Letters, Issue vol. 6, no. 2, 2021, Page(s) 1910-1917, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061303

Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot

Author(s): F. Bjelonic, A. Sachtler, A. Albu-Schaffer, C. Della Santina
Published in: IEEE ROBOTICS AND AUTOMATION LETTERS, Issue 07.01.2022, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3141156

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Author(s): Boffa, Lorenzo; Sesselmann, Anna; Roa Garzon, Máximo Alejandro
Published in: Journal of Mechanisms and Robotics, Issue Volume 15, Issue 3, 2023, Page(s) 12, ISSN 1942-4302
Publisher: American Society of Mechanical Engineers
DOI: 10.1115/1.4062388

Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks

Author(s): Annika Schmidt, Marion Forano, Arne Sachtler, Davide Calzolari, Bernhard M. Weber, David W. Franklin, Alin Albu-Schäffer
Published in: PLOS Computational Biology, Issue 20, 2024, Page(s) e1011478, ISSN 1553-7358
Publisher: PLOS
DOI: 10.1371/journal.pcbi.1011478

A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement

Author(s): Jens Reinecke; Alexander Dietrich; Anton Shu; Bastian Deutschmann; Marco Hutter
Published in: IEEE Robotics and Automation Letters, Issue vol. 7, no. 1, 2022, Page(s) 9-16, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3117245

Adapting Highly-Dynamic Compliant Movements to Changing Environments: A Benchmark Comparison of Reflex- vs. CPG-Based Control Strategies

Author(s): A. Schmidt, B. Feldotto, T. Gumpert, D. Seidel, A. Albu-Schäffer, P. Stratmann
Published in: Frontiers in Neurorobotics, Issue 15, 2021, Page(s) 169, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2021.762431

Human short-latency reflexes show precise short-term gain adaptation after prior motion

Author(s): Philipp Stratmann, Annika Schmidt, Hannes Höppner, Patrick van der Smagt, Tobias Meindl, David W. Franklin, Alin Albu-Schäffer
Published in: Journal of Neurophysiology, Issue 132, 2024, Page(s) 1680-1692, ISSN 0022-3077
Publisher: American Physiological Society
DOI: 10.1152/jn.00212.2024

Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots

Author(s): C. Della Santina, D. Lakatos, A. Bicchi, A. Albu-Schäffer
Published in: Experimental Robotics, 2021, Page(s) 566-575, ISBN 978-3-030-71150-4
Publisher: Springer Nature
DOI: 10.1007/978-3-030-71151-1_50

What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots?

Author(s): Alin Albu-Schäffer, Arne Sachtler
Published in: 18th International Symposium of Robotics Research, ISRR 2022, 2022, Page(s) 468-484, ISBN 303125554-0
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-25555-7_32

Diversified physiological sensory input connectivity questions the existence of distinct classes of spinal interneurons

Author(s): M. Kohler, F. Bengtsson, P. Stratmann, F. Röhrbein, A. Knoll, A. Albu-Schäffer, H. Jörntell
Published in: iScience, Issue Volume 25, Issue 4, 2022
Publisher: Elsevier
DOI: 10.1016/j.isci.2022.104083

From Underactuation to Quasi-Full Actuation

Author(s): Manuel Keppler
Published in: 2023
Publisher: TUM, Technical University of Munich

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