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.
@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.}
}
@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}}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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}}
@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}}
@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}}
@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}}
@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}}
@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}}