Journal articles | Conference publications | Books and contributions to books
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{Hoeppner.25.RAL,
author={Höppner, Hannes and Kirner, Annika and Göttlich, Joshua and Jakob, Linnéa and Dietrich, Alexander and Ott, Christian},
journal={IEEE Robotics and Automation Letters},
title={Variable Stiffness Actuation via 3D-Printed Nonlinear Torsional Springs},
year={2025},
volume={10},
number={5},
pages={4324-4331},
doi={10.1109/LRA.2025.3549658}}
@ARTICLE{Mesesan.25.RAM,
author={Mesesan, George and Schuller, Robert and Englsberger, Johannes and Roa, Máximo A. and Lee, Jinoh and Ott, Christian and Albu-Schäffer, Alin},
journal={IEEE Robotics & Automation Magazine},
title={Motion Planning for Humanoid Locomotion: Applications to Homelike Environments},
year={2025},
volume={32},
number={1},
pages={35-48},
doi={10.1109/MRA.2025.3527287}}
@ARTICLE{Moyron.25.TCST,
author={Moyrón, Jerónimo and Ott, Christian and Kirner, Annika and Moreno-Valenzuela, Javier},
journal={IEEE Transactions on Control Systems Technology},
title={Elastic Structure Preserving Control for Flexible Joint Robots With Position-Controlled Actuators},
year={2025},
volume={},
number={},
pages={1-10},
doi={10.1109/TCST.2025.3562024}}
@ARTICLE{Vijayan.25.TMECH,
author={Vijayan, Ria and De Stefano, Marco and Dietrich, Alexander and Ott, Christian},
journal={IEEE/ASME Transactions on Mechatronics},
title={Unified Control of an Orbital Manipulator for the Approach and Grasping of a Free-Floating Satellite},
year={2025},
volume={},
number={},
pages={1-12},
doi={10.1109/TMECH.2025.3545201}}
@ARTICLE{Lee.25.TMECH,
author={Yun, Wonbum and Lee, Jinoh and Ott, Christian and Oh, Sehoon},
journal={IEEE/ASME Transactions on Mechatronics},
title={Hierarchically Decoupled Disturbance Observer for Robust Multitask Priority Control},
year={2025},
volume={},
number={},
pages={1-13},
doi={10.1109/TMECH.2024.3519594}}
@ARTICLE{Huseyin.24.TOH,
author={Dinc, Huseyin Tugcan and Hulin, Thomas and Ott, Christian and Ryu, Jee-Hwan},
journal={IEEE Transactions on Haptics},
title={Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction},
year={2024},
volume={17},
number={1},
pages={100-107},
keywords={Haptic interfaces;Damping;Pressing;Impedance;Energy exchange;Force;Stability analysis;Passivity;haptic interaction;transparency},
doi={10.1109/TOH.2024.3359230}}
@ARTICLE{Kirner.24.RAL,
author={Kirner, Annika and Ott, Christian},
journal={IEEE Robotics and Automation Letters},
title={Impact Analysis for the Planning of Targeted Non-Slippage Impacts of Robot Manipulators},
year={2024},
volume={9},
number={3},
pages={2750-2757},
keywords={Task analysis;Robot kinematics;End effectors;Planning;Force;Null space;Torque;Dynamics;contact modeling;impact-aware planning and control},
doi={10.1109/LRA.2024.3359536}}
@ARTICLE{Schuller.24.Frontiers,
AUTHOR={Schuller, Robert and Reinecke, Jens and Maurenbrecher, Henry and Ott, Christian and Albu-Schäffer, Alin and Deutschmann, Bastian and Buettner, Fred and Heim, Jens and Benkert, Frank and Glueck, Stefan },
TITLE={An Experimental Study of the Sensorized Strain Wave Gear RT1-T and its Capabilities for Torque Control in Robotic Joints},
JOURNAL={Frontiers in Robotics and AI},
VOLUME={11},
YEAR={2024},
URL={https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2024.1416360},
DOI={10.3389/frobt.2024.1416360},
ISSN={2296-9144}}
@ARTICLE{Sovukluk.23.RAL,
author={Sovukluk, Sait and Englsberger, Johannes and Ott, Christian},
journal={IEEE Robotics and Automation Letters},
title={Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics},
year={2024},
volume={9},
number={2},
pages={1131-1138},
doi={10.1109/LRA.2023.3342668}}
@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{Mesesan.23.TRO,
author={Mesesan, George and Schuller, Robert and Englsberger, Johannes and Ott, Christian and Albu-Schäffer, Alin},
journal={IEEE Transactions on Robotics},
title={Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion},
year={2023},
volume={39},
number={6},
pages={4443-4463},
doi={10.1109/TRO.2023.3321396}}
@ARTICLE{Monje.23.CSM,
author={Monje, Concepción A. and Deutschmann, Bastian and Muñoz, Jorge and Ott, Christian and Balaguer, Carlos},
journal={IEEE Control Systems Magazine},
title={Fractional Order Control of Continuum Soft Robots: Combining Decoupled/Reduced-Dynamics Models and Robust Fractional Order Controllers for Complex Soft Robot Motions},
year={2023},
volume={43},
number={3},
pages={66-99},
doi={10.1109/MCS.2023.3253420}}
@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{Zambella.23.RAL,
author={Zambella, Grazia and Schuller, Robert and Mesesan, George and Bicchi, Antonio and Ott, Christian and Lee, Jinoh},
journal={IEEE Robotics and Automation Letters},
title={Agile and Dynamic Standing-Up Control for Humanoids Using 3D Divergent Component of Motion in Multi-Contact Scenario},
year={2023},
volume={8},
number={9},
pages={5624-5631},
doi={10.1109/LRA.2023.3297060}}
@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{Das.24.ICRA,
author={Das, Hemjyoti and Vu, Minh Nhat and Egle, Tobias and Ott, Christian},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
title={Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform},
year={2024},
volume={},
number={},
pages={8415-8421},
keywords={Damping;State feedback;Aerospace electronics;Frequency estimation;Energy efficiency;PD control;Kalman filters},
doi={10.1109/ICRA57147.2024.10610305}}
@INPROCEEDINGS{Dinc.24.Telepresence,
author={Dinc, Huseyin Tugcan and Hulin, Thomas and Rothammer, Michael and Seong, HyeonSeok and Willberg, Bertram and Pleintinger, Benedikt and Ryu, Jee-Hwan and Ott, Christian},
booktitle={2024 IEEE Conference on Telepresence},
title={CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic Interaction Device Based on a Spherical Parallel Mechanism},
year={2024},
volume={},
number={},
pages={87-94},
doi={10.1109/Telepresence63209.2024.10841776}}
@INPROCEEDINGS{Egle.24.Humanoids,
author={Egle, Tobias and Yan, Yashuai and Lee, Dongheui and Ott, Christian},
booktitle={2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)},
title={Enhancing Model-Based Step Adaptation for Push Recovery through Reinforcement Learning of Step Timing and Region},
year={2024},
volume={},
number={},
pages={165-172},
keywords={Legged locomotion;Limiting;Perturbation methods;Humanoid robots;Reinforcement learning;Robustness;Real-time systems;Timing;Trajectory;IEEE Regions},
doi={10.1109/Humanoids58906.2024.10769960}}
@INPROCEEDINGS{Jadav.24.ICRA,
author={Jadav, Shail and Heidersberger, Johannes and Ott, Christian and Lee, Dongheui},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
title={Shared Autonomy via Variable Impedance Control and Virtual Potential Fields for Encoding Human Demonstrations},
year={2024},
volume={},
number={},
pages={15151-15157},
keywords={Collaboration;Generators;Encoding;Trajectory;Impedance;Task analysis;Force control},
doi={10.1109/ICRA57147.2024.10610761}}
@INPROCEEDINGS{Kirner.24.AIROV,
author={Annika Kirner and Christian Ott},
booktitle={AIRoV2024 InterAC-Workshop 2024},
title={Reinterpretation of the Non-Slippage Impact Direction for Elastic Contact Transitions},
year={2024}}
@INPROCEEDINGS{Thelenber.24.ECC,
author={Thelenberg, Nikolas and Ott, Christian},
booktitle={2024 European Control Conference (ECC)},
title={On Handling Variable Stiffness Parameters in Compliance Control via MPC},
year={2024},
volume={},
number={},
pages={615-620},
keywords={Damping;Europe;Manipulators;Real-time systems;Impedance;Time-varying systems;Optimization},
doi={10.23919/ECC64448.2024.10591005}}
@INPROCEEDINGS{Das.23.IROS,
author={Das, Hemjyoti and Sæbø, Bjørn Kåre and Pettersen, Kristin Y. and Ott, Christian},
booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks},
year={2023},
volume={},
number={},
pages={4390-4396},
doi={10.1109/IROS55552.2023.10342250}}
@INPROCEEDINGS{10161480,
author={De Stefano, Marco and Vijayan, Ria and Stemmer, Andreas and Elhardt, Ferdinand and Ott, Christian},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
title={A Gravity Compensation Strategy for On-ground Validation of Orbital Manipulators},
year={2023},
volume={},
number={},
pages={11859-11865},
doi={10.1109/ICRA48891.2023.10161480}}
@INPROCEEDINGS{Egle.23.Humanoids,
author={Egle, Tobias and Englsberger, Johannes and Ott, Christian},
booktitle={2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)},
title={Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases},
year={2023},
volume={},
number={},
pages={1-8},
doi={10.1109/Humanoids57100.2023.10375152}}
@INPROCEEDINGS{10160718,
author={Sarkisov, Yuri S. and Coelho, Andre and Santos, Maihara G. and Kim, Min Jun and Tsetserukou, Dzmitry and Ott, Christian and Kondak, Konstantin},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
title={Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation},
year={2023},
volume={},
number={},
pages={5366-5372},
doi={10.1109/ICRA48891.2023.10160718}}
@INPROCEEDINGS{Sovukluk.23.IROS,
author={Sovukluk, Sait and Englsberger, Johannes and Ott, Christian},
booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Whole Body Control Formulation for Humanoid Robots with Closed/Parallel Kinematic Chains: Kangaroo Case Study},
year={2023},
volume={},
number={},
pages={10390-10396},
doi={10.1109/IROS55552.2023.10341391}}
@INPROCEEDINGS{Sovukluk.23.Humanoids,
author={Sovukluk, Sait and Ott, Christian and Ankaralı, M. Mert},
booktitle={2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)},
title={Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations},
year={2023},
volume={},
number={},
pages={1-8},
doi={10.1109/Humanoids57100.2023.10375153}}
@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}}