Albu-Schäffer, Alin;Sachtler, ArneRedundancy Resolution at Position LevelIEEE Transactions on Robotics2023Sep1-22
Schneyer, Stefan;Sachtler, Arne;Eiband, Thomas;Nottensteiner, KorbinianSegmentation and Coverage Planning of Freeform Geometries for Robotic Surface FinishingIEEE Robotics and Automation Letters2023885267-5274
Coelho, Andre;Albu-Schaeffer, Alin;Sachtler, Arne;Mishra, Hrishik;Bicego, Davide;Ott, Christian;Franchi, AntonioEigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems2437-24422022 IEEE 61st Conference on Decision and Control (CDC)IEEE2022
Albu-Schäffer, Alin;Sachtler, ArneWhat Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots?468-484Robotics ResearchAude Billard, Tamim Asfour, Oussama KhatibSpringer Nature Switzerland2023
Dyck, Michael;Sachtler, Arne;Klodmann, Julian;Albu-Schaffer, AlinImpedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential GeometryIEEE Robotics and Automation Letters2022737738 - 7746
Sachtler, Arne;Albu-Schaffer, AlinStrict Modes Everywhere - Bringing Order into Dynamics of Mechanical Systems by a Potential Compatible with the Geodesic FlowIEEE Robotics and Automation Letters2022722337 - 2344
Bjelonic, Filip;Sachtler, Arne;Albu-Schaffer, Alin;Della Santina, CosimoExperimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial RobotIEEE Robotics and Automation Letters2022721689-1696