2024
- Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes. European Control Conference (ECC) 2024 (Proceedings of the 22nd European Control Conference (ECC) 2024), 2024, 2392-2398 more…
- Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks. PLOS Computational Biology 20 (9), 2024, e1011478 more…
- Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint. 2024 European Control Conference (ECC), IEEE, 2024, 2194-2199 more…
2023
- Redundancy Resolution at Position Level. IEEE Transactions on Robotics 39 (6), 2023, 4240 - 4261 more…
- What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots? In: Robotics Research. Springer Nature Switzerland, 2023, 468-484 more…
- Segmentation and Coverage Planning of Freeform Geometries for Robotic Surface Finishing. IEEE Robotics and Automation Letters 8 (8), 2023, 5267-5274 more…
2022
- Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot. IEEE Robotics and Automation Letters 7 (2), 2022, 1689-1696 more…
- EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. 2022 IEEE 61st Conference on Decision and Control (CDC), IEEE, 2022, 2437-2442 more…
- Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry. IEEE Robotics and Automation Letters 7 (3), 2022, 7738 - 7746 more…
- Strict Modes Everywhere - Bringing Order into Dynamics of Mechanical Systems by a Potential Compatible with the Geodesic Flow. IEEE Robotics and Automation Letters 7 (2), 2022, 2337 - 2344 more…
2021
- Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution. Journal of Intelligent & Robotic Systems 101 (3), 2021 more…
2019
- Combined Visual and Touch-based Sensing for the Autonomous Registration of Objects with Circular Features. 2019 19th International Conference on Advanced Robotics (ICAR), IEEE, 2019 more…