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2020 – today
- 2024
[j11]Hyunwook Lee
, Jinoh Lee, Manuel Keppler, Sehoon Oh:
Robust Elastic Structure Preserving Control for High Impedance Rendering of Series Elastic Actuator. IEEE Robotics Autom. Lett. 9(4): 3601-3608 (2024)- [j10]Anton Leonhard Shu, Clara Raschel, Manuel Keppler, Armin Wedler, Martin Görner:
Impact Robustness Versus Torque Bandwidth: A Design Guide for Differential Elastic Actuators. IEEE Trans. Robotics 40: 3657-3675 (2024) - [c9]Annika Schmidt, Filip Pasic, Davide Calzolari, Arne Sachtler, Thomas Gumpert, Manuel Keppler, Alin Albu-Schäffer:
Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint. ECC 2024: 2194-2199 - [e1]Cristina Piazza, Patricia Capsi-Morales, Luis Figueredo, Manuel Keppler, Hinrich Schütze:
Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics, Munich, Germany, 20-21 September 2023. Springer Proceedings in Advanced Robotics 29, Springer 2024, ISBN 978-3-031-54999-1 [contents] - 2023
- [j9]Xuming Meng, Manuel Keppler, Christian Ott:
Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots. IEEE Control. Syst. Lett. 7: 217-222 (2023) - 2022
- [j8]George Jose Pollayil, Xuming Meng, Manuel Keppler, Martin Pfanne, Antonio Bicchi, Christian Ott:
Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems. IEEE Control. Syst. Lett. 6: 1982-1987 (2022) - [j7]Marie Harder, Manuel Keppler, Xuming Meng, Christian Ott, Hannes Höppner, Alexander Dietrich:
Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators. IEEE Robotics Autom. Lett. 7(3): 6614-6621 (2022) - [j6]Manuel Keppler, Clara Raschel, David Wandinger, Andreas Stemmer, Christian Ott:
Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments. IEEE Robotics Autom. Lett. 7(3): 8283-8290 (2022) - 2021
- [j5]Riccardo Mengacci, Manuel Keppler, Martin Pfanne, Antonio Bicchi, Christian Ott:
Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa). IEEE Robotics Autom. Lett. 6(2): 879-886 (2021) - [j4]Nico Mansfeld, Manuel Keppler, Sami Haddadin:
Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach. IEEE Robotics Autom. Lett. 6(3): 4600-4607 (2021) - [j3]Manuel Keppler, Florian Loeffl, David Wandinger, Clara Raschel, Christian Ott:
Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control. IEEE Robotics Autom. Lett. 6(4): 7121-7128 (2021) - [c8]Xuming Meng, Manuel Keppler, Christian Ott:
Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation. ECC 2021: 263-269 - 2020
- [j2]Moritz Maier, Manuel Keppler, Christian Ott, Alin Albu-Schäffer:
Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots. IEEE Robotics Autom. Lett. 5(2): 1445-1452 (2020) - [c7]Manuel Keppler, Alessandro De Luca:
On Time-Optimal Control of Elastic Joints under Input Constraints. CDC 2020: 4149-4156 - [c6]Maged Iskandar, Christian Ott, Oliver Eiberger, Manuel Keppler, Alin Albu-Schäffer, Alexander Dietrich:
Joint-Level Control of the DLR Lightweight Robot SARA. IROS 2020: 8903-8910
2010 – 2019
- 2018
- [j1]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots. IEEE Trans. Robotics 34(2): 317-335 (2018) - [c5]Manuel Keppler, Dominic Lakatos, Alexander Werner, Florian Loeffl, Christian Ott, Alin Albu-Schäffer:
Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots. ECC 2018: 255-260 - [c4]Alexander Werner, Bernd Henze, Manuel Keppler, Florian Loeffl, Sigrid Leyendecker, Christian Ott:
Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots. IROS 2018: 1233-1240 - [c3]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots. IROS 2018: 5861-5868 - 2016
- [c2]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots. CDC 2016: 1521-1528 - [c1]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots. ICRA 2016: 1079-1086
Coauthor Index
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