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Manuel Keppler
ORCID
Publication Activity (10 Years)
Years Active: 2016-2023
Publications (10 Years): 17
Top Topics
Structure Preserving
Tracking Control
Lightweight
Density Estimation
Top Venues
IEEE Robotics Autom. Lett.
IROS
IEEE Control. Syst. Lett.
CDC
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Publications
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Xuming Meng
,
Manuel Keppler
,
Christian Ott
Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots.
IEEE Control. Syst. Lett.
7 (2023)
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) (2022)
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) (2022)
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 (2022)
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) (2021)
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) (2021)
Xuming Meng
,
Manuel Keppler
,
Christian Ott
Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation.
ECC
(2021)
Nico Mansfeld
,
Manuel Keppler
,
Sami Haddadin
Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach.
IEEE Robotics Autom. Lett.
6 (3) (2021)
Manuel Keppler
,
Alessandro De Luca
On Time-Optimal Control of Elastic Joints under Input Constraints.
CDC
(2020)
Maged Iskandar
,
Christian Ott
,
Oliver Eiberger
,
Manuel Keppler
,
Alin Albu-Schäffer
,
Alexander Dietrich
Joint-Level Control of the DLR Lightweight Robot SARA.
IROS
(2020)
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) (2020)
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)
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)
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)
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)
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)