Manuel Keppler

Math, robotics, control, design.

Website under construction…

About me

I am a group leader in the Institute of Robotics and Mechatronics at the German Aerospace Center’s (DLR), and further direct the control development for neoDavid (details) a wheeled humanoid equipped with variable stiffness actuators. [bio]

Research statement

My Elastic Robot Control group seeks to advance the foundations of robot control, planning, and design to empower compliant robots to attain human-like motion performance and efficiency. Our focus centers on enabling these robots to engage in a dynamic, precise, safe, and robust manner in diverse environments, including those that entail human interaction. [extended version]

News

For collaborations, discussions, etc., please contact me via email.

DLR David – An anthropomorphic robot featuring variable stiffness actuators in all its 44 joints. Designed to mirror its human archetype in size, weight, and performance, its key emphasis lies in mechanical robustness, high dynamics, and remarkable dexterity.

Videos

Control demonstrations

World’s first motion tracking controller on a VSA robot

To our best knowledge, the presented ESP controller is the world’s first experimentally validated motion tracking controller for compliantly actuated robots with (nonlinear) elastic joints. [Paper]

Accuracy meets safety: PID and ESP control in elastic robots

Breaking boundaries: elastic robots matching rigid counterparts in positioning accuracy for the first time. [Paper]

Impedance control for soft robots

Discover Elastic Structure Preserving Impedance (ESPi) for soft robots. This groundbreaking approach allows imposing a desired impedance behavior in a robust manner. Remarkably, the interaction stiffness can be rendered beyond intrinsic levels, while maintaining closed-loop passivity. In fact, there is no theoretical upper bound. Paper, IEEE Video Friday Headliner

Motion tracking and damping assignment

Watch the effectiveness of a novel control approach for motion tracking and damping assignment in compliantly actuated robotic systems. The concept is demonstrated on an anthropomorphic robot system, the DLR Hand Arm System, with variable stiffness actuators. Paper, IEEE Video Friday

Analyzing performance limits & enhanced damping design

Enhanced damping designs based on dynamic extensions to reduce the control effort during hard impacts. [Paper]

Videos

Demonstrations on DRL’s David
(formerly Hand Arm System – HASy)

Using Hammer Drill and Vacuum Cleaner

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Robot Arm Smashed with Baseball Bat

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Advanced Manipulation Skills

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Teleoperation via Kinfinity motion suite

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