Research in the Robotic Systems Lab is focused on new approaches for motion generation and feedback control of various robotic systems ranging from collaborative manipulators, compliant robots, to complex humanoids. Our research builds up on a solid basis of model-based nonlinear control in robotics and we utilize fundamental system properties, such as passivity or the existence of inertially decoupled coordinates, in the controller design. Additionally, we aim for a tailored balance between model-based system design and data-based control approaches for handling phenomena, for which an accurate model is hard to obtain.
The research activities in the RSL can be roughly structured in the following categories.