Albu-Schäffer, Alin;Sachtler, Arne
Redundancy Resolution at Position Level
IEEE Transactions on Robotics
2023
Sep
1-22

Schneyer, Stefan;Sachtler, Arne;Eiband, Thomas;Nottensteiner, Korbinian
Segmentation and Coverage Planning of Freeform Geometries for Robotic Surface Finishing
IEEE Robotics and Automation Letters
2023
8
8
5267-5274

Coelho, Andre;Albu-Schaeffer, Alin;Sachtler, Arne;Mishra, Hrishik;Bicego, Davide;Ott, Christian;Franchi, Antonio
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems
2437-2442
2022 IEEE 61st Conference on Decision and Control (CDC)
IEEE
2022

Albu-Schäffer, Alin;Sachtler, Arne
What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots?
468-484
Robotics Research
Aude Billard, Tamim Asfour, Oussama Khatib
Springer Nature Switzerland
2023

Dyck, Michael;Sachtler, Arne;Klodmann, Julian;Albu-Schaffer, Alin
Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry
IEEE Robotics and Automation Letters
2022
7
3
7738 - 7746

Sachtler, Arne;Albu-Schaffer, Alin
Strict Modes Everywhere - Bringing Order into Dynamics of Mechanical Systems by a Potential Compatible with the Geodesic Flow
IEEE Robotics and Automation Letters
2022
7
2
2337 - 2344

Bjelonic, Filip;Sachtler, Arne;Albu-Schaffer, Alin;Della Santina, Cosimo
Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot
IEEE Robotics and Automation Letters
2022
7
2
1689-1696