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

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

Radhakrishna Balachandran, Ribin
A Stable and Transparent Framework for Adaptive Shared Control of Robots
2022
Dissertation
180 p.