Dominic Lakatos

Publication Activity (10 Years)

Years Active: 2011-2021
Publications (10 Years): 20

Top Topics

Structure Preserving

Riemannian Manifolds

Top Venues

IEEE Robotics Autom. Lett.

Publications

Alin Albu-Schäffer, Dominic Lakatos, Stefano Stramigioli
Strict Nonlinear Normal Modes of Systems Characterized by Scalar Functions on Riemannian Manifolds. IEEE Robotics Autom. Lett. 6 (2) (2021)
Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer
Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. CDC (2021)
Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer
Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots. ISER (2020)
Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl, Florian Schmidt, Daniel Seidel, Alin Albu-Schäffer
A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots. ICRA (2019)
Alin Albu-Schäffer, Dominic Lakatos, Stefano Stramigioli
One-Dimensional Solution Families of Nonlinear Systems Characterized by Scalar Functions on Riemannian Manifolds. CoRR (2019)
Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer
Exact Modal Characterization of the Non Conservative Non Linear Radial Mass Spring System. ICRA (2019)
Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots. IEEE Trans. Robotics 34 (2) (2018)
Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots. IROS (2018)
Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer
Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Soft Robots. CoRR (2018)
Daniel Seidel, Dominic Lakatos, Alin Albu-Schäffer
Data-Driven Discrete Planning for Targeted Hopping of Compliantly Actuated Robotic Legs. IROS (2018)
Dominic Lakatos, Kai Ploeger, Florian Loeffl, Daniel Seidel, Florian Schmidt, Thomas Gumpert, Freia John, Torsten Bertram, Alin Albu-Schäffer
Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design. IEEE Robotics Autom. Lett. 3 (4) (2018)
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)
Dominic Lakatos, Werner Friedl, Alin Albu-Schäffer
Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots With Elastic Elements. IEEE Robotics Autom. Lett. 2 (2) (2017)
Philipp Stratmann, Dominic Lakatos, Mehmet Can Özparpucu, Alin Albu-Schäffer
Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency. IEEE Robotics Autom. Lett. 2 (2) (2017)
Philipp Stratmann, Dominic Lakatos, Alin Albu-Schäffer
Neuromodulation and Synaptic Plasticity for the Control of Fast Periodic Movement: Energy Efficiency in Coupled Compliant Joints via PCA. Frontiers Neurorobotics 10 (2016)
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)
Dominic Lakatos, Alin Albu-Schäffer, Christian Rode, Florian Loeffl
Dynamic bipedal walking by controlling only the equilibrium of intrinsic elasticities. Humanoids (2016)
Florian Loeffl, Alexander Werner, Dominic Lakatos, Jens Reinecke, Sebastian Wolf, Robert Burger, Thomas Gumpert, Florian Schmidt, Christian Ott, Markus Grebenstein, Alin Albu-Schäffer
The DLR C-runner: Concept, design and experiments. Humanoids (2016)
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)
Dominic Lakatos, Alin Albu-Schäffer
Modal Matching: An Approach to Natural Compliant Jumping Control. IEEE Robotics Autom. Lett. 1 (1) (2016)
Dominic Lakatos, Daniel Seidel, Werner Friedl, Alin Albu-Schäffer
Targeted jumping of compliantly actuated hoppers based on discrete planning and switching control. IROS (2015)
Dominic Lakatos, Alin Albu-Schäffer
Neuron model interpretation of a cyclic motion control concept. BioRob (2014)
Dominic Lakatos, Christian Rode, André Seyfarth, Alin Albu-Schäffer
Design and control of compliantly actuated bipedal running robots: Concepts to exploit natural system dynamics. Humanoids (2014)
Dominic Lakatos, Gianluca Garofalo, Alexander Dietrich, Alin Albu-Schäffer
Jumping control for compliantly actuated multilegged robots. ICRA (2014)
Dominic Lakatos, Florian Petit, Alin Albu-Schäffer
Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms. IEEE Trans. Robotics 30 (4) (2014)
Dominic Lakatos, Martin Görner, Florian Petit, Alexander Dietrich, Alin Albu-Schäffer
A modally adaptive control for multi-contact cyclic motions in compliantly actuated robotic systems. IROS (2013)
Dominic Lakatos, Gianluca Garofalo, Florian Petit, Christian Ott, Alin Albu-Schäffer
Modal limit cycle control for variable stiffness actuated robots. ICRA (2013)
Dominic Lakatos, Florian Petit, Alin Albu-Schäffer
Nonlinear oscillations for cyclic movements in variable impedance actuated robotic arms. ICRA (2013)
Dominic Lakatos, Daniel Rüschen, Justin Bayer, Jörn Vogel, Patrick van der Smagt
Identification of Human Limb Stiffness in 5 DoF and Estimation via EMG. ISER (2012)
Florian Petit, Dominic Lakatos, Werner Friedl, Alin Albu-Schäffer
Dynamic Trajectory Generation for Serial Elastic Actuated Robots. SyRoCo (2012)
Dominic Lakatos, Florian Petit, Patrick van der Smagt
Conditioning vs. excitation time for estimating impedance parameters of the human arm. Humanoids (2011)
Hannes Höppner, Dominic Lakatos, Holger Urbanek, Claudio Castellini, Patrick van der Smagt
The Grasp Perturbator: Calibrating human grasp stiffness during a graded force task. ICRA (2011)