Arne Sachtler

Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer: 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…
Schmidt, Annika; Forano, Marion; Sachtler, Arne; Calzolari, Davide; Weber, Bernhard M.; Franklin, David W.; Albu-Schäffer, Alin: Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks. PLOS Computational Biology 20 (9), 2024, e1011478 more…
Schmidt, Annika; Pasic, Filip; Calzolari, Davide; Sachtler, Arne; Gumpert, Thomas; Keppler, Manuel; Albu-Schäffer, Alin: Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint. 2024 European Control Conference (ECC), IEEE, 2024, 2194-2199 more…

Albu-Schäffer, Alin; Sachtler, Arne: Redundancy Resolution at Position Level. IEEE Transactions on Robotics 39 (6), 2023, 4240 - 4261 more…
Albu-Schäffer, Alin; Sachtler, Arne: What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots? In: Aude Billard, Tamim Asfour, Oussama Khatib (Ed.): Robotics Research. Springer Nature Switzerland, 2023, 468-484 more…
Schneyer, Stefan; Sachtler, Arne; Eiband, Thomas; Nottensteiner, Korbinian: Segmentation and Coverage Planning of Freeform Geometries for Robotic Surface Finishing. IEEE Robotics and Automation Letters 8 (8), 2023, 5267-5274 more…

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 7 (2), 2022, 1689-1696 more…
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. 2022 IEEE 61st Conference on Decision and Control (CDC), IEEE, 2022, 2437-2442 more…
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 7 (3), 2022, 7738 - 7746 more…
Sachtler, Arne; Albu-Schäffer, Alin: 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…

Nottensteiner, Korbinian; Sachtler, Arne; Albu-Schäffer, Alin: Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution. Journal of Intelligent & Robotic Systems 101 (3), 2021 more…

Sachtler, Arne; Nottensteiner, Korbinian; Kassecker, Michael; Albu-Schaffer, Alin: 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…

Research Topics