Publications (RSL)

Journal articles | Conference publications

This page contains only papers from the RSL group since April 2022. For older papers from Christian Ott, please consult the Google Scholar page.

Journal articles

2023

  • R. Balachandran, M. De Stefano, H. Mishra, C. Ott, and A. Albu-Schaeffer, Passive arbitration in adaptive shared control of robots with variable force and stiffness scaling, Mechatronics, vol. 90, p. 102930, 2023.
    [BibTex]
    @article{BALACHANDRAN2023102930,
    title = {Passive arbitration in adaptive shared control of robots with variable force and stiffness scaling},
    journal = {Mechatronics},
    volume = {90},
    pages = {102930},
    year = {2023},
    issn = {0957-4158},
    doi = {https://doi.org/10.1016/j.mechatronics.2022.102930},
    url = {https://www.sciencedirect.com/science/article/pii/S0957415822001489},
    author = {Ribin Balachandran and Marco {De Stefano} and Hrishik Mishra and Christian Ott and Alin Albu-Schaeffer},
    keywords = {Human–robot interaction, Shared control, Adaptive arbitration, Teleoperation, Passivity, Stability},
    abstract = {In mixed-initiative shared control, the final control command to the robot is a weighted sum of the commands from two or more agents (human operators or automatic control systems). In force controlled robots, scaling of forces without power-consistent scaling of velocities leads to loss of passivity of the overall system. In this work, we first pose the problem statement related to position drift, while using a state-of-the-art, passivity ensuring method for scaling of forces. We then formulate adaptive mixed-initiative shared control as an adaptive stiffness control approach. We ensure passivity of the adaptive stiffness controller with a novel, model-independent method. The salient features, benefits and limitations of the approach are emphasized through analyses, simulations and hardware experiments. The proposed approach is finally validated with a practical shared control task.}
    }
  • M. Iskandar, C. Ott, A. Albu-Schäffer, B. Siciliano, and A. Dietrich, Hybrid Force-Impedance Control for Fast End-Effector Motions, IEEE Robotics and Automation Letters, vol. 8, iss. 7, pp. 3931-3938, 2023.
    [BibTex]
    @ARTICLE{ISKANDAR2023,
    author={Iskandar, Maged and Ott, Christian and Albu-Schäffer, Alin and Siciliano, Bruno and Dietrich, Alexander},
    journal={IEEE Robotics and Automation Letters},
    title={Hybrid Force-Impedance Control for Fast End-Effector Motions},
    year={2023},
    volume={8},
    number={7},
    pages={3931-3938},
    doi={10.1109/LRA.2023.3270036}}
  • M. Rothammer, A. Coelho, H. Mishra, C. Ott, A. Franchi, and A. Albu-Schaeffer, A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework, IEEE Control Systems Letters, vol. 7, pp. 163-168, 2023.
    [BibTex]
    @Article{9810332,
    author = {Rothammer, Michael and Coelho, Andre and Mishra, Hrishik and Ott, Christian and Franchi, Antonio and Albu-Schaeffer, Alin},
    journal = {IEEE Control Systems Letters},
    title = {A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework},
    year = {2023},
    pages = {163-168},
    volume = {7},
    doi = {10.1109/LCSYS.2022.3187349},
    }

2022

  • M. Harder, M. Keppler, X. Meng, C. Ott, H. Höppner, and A. Dietrich, Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators, IEEE Robotics and Automation Letters, vol. 7, iss. 3, pp. 6614-6621, 2022.
    [BibTex]
    @Article{9779469,
    author = {Harder, Marie and Keppler, Manuel and Meng, Xuming and Ott, Christian and Höppner, Hannes and Dietrich, Alexander},
    journal = {IEEE Robotics and Automation Letters},
    title = {Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators},
    year = {2022},
    number = {3},
    pages = {6614-6621},
    volume = {7},
    doi = {10.1109/LRA.2022.3176094},
    }
  • M. Keppler, C. Raschel, D. Wandinger, A. Stemmer, and C. Ott, Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments, IEEE Robotics and Automation Letters, vol. 7, iss. 3, pp. 8283-8290, 2022.
    [BibTex]
    @Article{9811346,
    author = {Keppler, Manuel and Raschel, Clara and Wandinger, David and Stemmer, Andreas and Ott, Christian},
    journal = {IEEE Robotics and Automation Letters},
    title = {Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments},
    year = {2022},
    number = {3},
    pages = {8283-8290},
    volume = {7},
    doi = {10.1109/LRA.2022.3187277},
    }
  • X. Meng, M. Keppler, and C. Ott, Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots, IEEE Control Systems Letters, vol. 7, pp. 217-222, 2022.
    [BibTex]
    @Article{9810336,
    author = {Meng, Xuming and Keppler, Manuel and Ott, Christian},
    journal = {IEEE Control Systems Letters},
    title = {Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots},
    year = {2022},
    pages = {217-222},
    volume = {7},
    doi = {10.1109/LCSYS.2022.3187345},
    }
  • Y. Michel, C. Ott, and D. Lee, Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators, IEEE Transactions on Robotics, vol. 38, iss. 6, pp. 3899-3916, 2022.
    [BibTex]
    @Article{9781629,
    author = {Michel, Youssef and Ott, Christian and Lee, Dongheui},
    journal = {IEEE Transactions on Robotics},
    title = {Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators},
    year = {2022},
    number = {6},
    pages = {3899-3916},
    volume = {38},
    doi = {10.1109/TRO.2022.3174478},
    }
  • H. Mishra, G. Garofalo, A. M. Giordano, M. De Stefano, C. Ott, and A. Kugi, Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications, IEEE Transactions on Robotics, pp. 1-19, 2022.
    [BibTex]
    @Article{Mishra.22.TRO,
    author = {Mishra, Hrishik and Garofalo, Gianluca and Giordano, Alessandro Massimo and De Stefano, Marco and Ott, Christian and Kugi, Andreas},
    journal = {IEEE Transactions on Robotics},
    title = {Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications},
    year = {2022},
    pages = {1-19},
    doi = {10.1109/TRO.2022.3206716},
    }
  • H. Mishra, M. De Stefano, and C. Ott, Dynamics and Control of a Reconfigurable Multi-Arm Robot for In-Orbit Assembly, IFAC-PapersOnLine, vol. 55, iss. 20, pp. 235-240, 2022.
    [BibTex]
    @Article{MISHRA2022235,
    author = {Hrishik Mishra and Marco {De Stefano} and Christian Ott},
    journal = {IFAC-PapersOnLine},
    title = {Dynamics and Control of a Reconfigurable Multi-Arm Robot for In-Orbit Assembly},
    year = {2022},
    issn = {2405-8963},
    note = {10th Vienna International Conference on Mathematical Modelling MATHMOD 2022},
    number = {20},
    pages = {235-240},
    volume = {55},
    abstract = {In this paper, a passivity-based controller is proposed for a reconfigurable multi-arm system, which is employed for in-orbit assembly. The reconfigurable system is composed of multiple anthropomorphic arms which can be connected to a torso or operate independently. The proposed control is applicable for all the morphologies of the multi-arm system while performing several operations required for the assembly task, such as walking on a telescope structure through dedicated mechanical interfaces. The constrained dynamics is exploited to derive a unified joint actuation control law for all the considered operations and morphologies. A Co-simulation framework was developed to simulate the operations for control prototyping, and simulation results prove the effectiveness of the proposed unified controller.},
    doi = {https://doi.org/10.1016/j.ifacol.2022.09.101},
    keywords = {Motion Control, Robots manipulators, Passivity-based control},
    url = {https://www.sciencedirect.com/science/article/pii/S2405896322012915},
    }
  • X. Wu, A. Kirner, G. Garofalo, C. Ott, P. Kotyczka, and A. Dietrich, Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators, IEEE Robotics and Automation Letters, pp. 1-8, 2022.
    [BibTex]
    @Article{9913624,
    author = {Wu, Xuwei and Kirner, Annika and Garofalo, Gianluca and Ott, Christian and Kotyczka, Paul and Dietrich, Alexander},
    journal = {IEEE Robotics and Automation Letters},
    title = {Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators},
    year = {2022},
    pages = {1-8},
    doi = {10.1109/LRA.2022.3212669},
    }
  • X. Wu, C. Ott, A. Albu-Schäffer, and A. Dietrich, Passive Decoupled Multitask Controller for Redundant Robots, IEEE Transactions on Control Systems Technology, pp. 1-16, 2022.
    [BibTex]
    @Article{9759510,
    author = {Wu, Xuwei and Ott, Christian and Albu-Schäffer, Alin and Dietrich, Alexander},
    journal = {IEEE Transactions on Control Systems Technology},
    title = {Passive Decoupled Multitask Controller for Redundant Robots},
    year = {2022},
    pages = {1-16},
    doi = {10.1109/TCST.2022.3162990},
    }

Conference publications

2022

  • F. Beck, M. Rehermann, J. Reger, and C. Ott, Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions, in 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022, pp. 261-268.
    [BibTex]
    @INPROCEEDINGS{10000146,
    author={Beck, Fabian and Rehermann, Maximilian and Reger, Johann and Ott, Christian},
    booktitle={2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)},
    title={Utilizing the Natural Dynamics of Elastic Legged Robots for Periodic Jumping Motions},
    year={2022},
    volume={},
    number={},
    pages={261-268},
    doi={10.1109/Humanoids53995.2022.10000146}}
  • A. Coelho, A. Albu-Schaeffer, A. Sachtler, H. Mishra, D. Bicego, C. Ott, and A. Franchi, EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems, in 2022 IEEE 61st Conference on Decision and Control (CDC), 2022, pp. 2437-2442.
    [BibTex]
    @INPROCEEDINGS{9992915,
    author={Coelho, Andre and Albu-Schaeffer, Alin and Sachtler, Arne and Mishra, Hrishik and Bicego, Davide and Ott, Christian and Franchi, Antonio},
    booktitle={2022 IEEE 61st Conference on Decision and Control (CDC)},
    title={EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems},
    year={2022},
    volume={},
    number={},
    pages={2437-2442},
    doi={10.1109/CDC51059.2022.9992915}}
  • T. Egle, J. Englsberger, and C. Ott, Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions, in 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022, pp. 630-637.
    [BibTex]
    @INPROCEEDINGS{10000236,
    author={Egle, Tobias and Englsberger, Johannes and Ott, Christian},
    booktitle={2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)},
    title={Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions},
    year={2022},
    volume={},
    number={},
    pages={630-637},
    doi={10.1109/Humanoids53995.2022.10000236}}
  • K. Fründ, A. L. Shu, F. C. Loeffl, and C. Ott, A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion, in 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022, pp. 60-66.
    [BibTex]
    @INPROCEEDINGS{10000126,
    author={Fründ, Konrad and Shu, Anton Leonhard and Loeffl, Florian Christoph and Ott, Christian},
    booktitle={2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)},
    title={A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion},
    year={2022},
    volume={},
    number={},
    pages={60-66},
    doi={10.1109/Humanoids53995.2022.10000126}}
  • C. Ott, F. Beck, and M. Keppler, An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots, in 13th IFAC Symposium on Robot Control SYROCO 2022 (appeared in IFAC-PapersOnLine), 2022, pp. 113-119.
    [BibTex]
    @INPROCEEDINGS{OTT2022113,
    author={Christian Ott and Fabian Beck and Manuel Keppler},
    booktitle={13th IFAC Symposium on Robot Control SYROCO 2022 (appeared in IFAC-PapersOnLine)},
    title={An Experimental Study on MPC based Joint Torque Control for Flexible Joint Robots},
    year={2022},
    volume={55},
    number={38},
    pages={113-119},
    doi={https://doi.org/10.1016/j.ifacol.2023.01.142}}
  • R. Vijayan, M. De Stefano, and C. Ott, Control of an Orbital Manipulator with Reaction Wheels for On-orbit Servicing, in 13th IFAC Symposium on Robot Control SYROCO 2022 (appeared in IFAC-PapersOnLine), 2022, pp. 26-32.
    [BibTex]
    @INPROCEEDINGS{VIJAYAN202226,
    author={Ria Vijayan and Marco {De Stefano} and Christian Ott},
    booktitle={13th IFAC Symposium on Robot Control SYROCO 2022 (appeared in IFAC-PapersOnLine)},
    title={Control of an Orbital Manipulator with Reaction Wheels for On-orbit Servicing},
    year={2022},
    volume={55},
    number={38},
    pages={26-32},
    doi={https://doi.org/10.1016/j.ifacol.2023.01.129}}