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Patents granted
[DE] Verfahren und Vorrichtung zum Steuern und Regeln von Aktoren, die zum Antrieb eines seriellen, mehrgliedrigen mechanischen Systems dienen.
Keppler, Manuel, 82234, Weßling, DE ; Lakatos, Dominic, 81545, München, DE ; Ott, Christian, 80686, München, DE
Journal papers
Elastic structure preserving (esp) control for compliantly actuated robots
Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
IEEE Transactions on Robotics 34 (2), 317-335
Conference papers
A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots
Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
2016 IEEE International Conference on Robotics and Automation (ICRA)
*Best Automation Paper Award Finalist 2016
A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots
Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
2016 IEEE 55th Conference on Decision and Control (CDC)