Gianluca Garofalo

CoRR, 2024

2023

Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications.

[BibT_eX]

[DOI]

Hrishik Mishra

Alessandro Massimo Giordano

Marco De Stefano

Andreas Kugi

IEEE Trans. Robotics, April, 2023

2022

Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

2021

Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators.

[BibT_eX]

[DOI]

Xuwei Wu

IEEE Robotics Autom. Lett., October, 2021

2020

Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XVI, 2020

On the Control of Translationally Flexible Base Manipulators.

[BibT_eX]

[DOI]

Proceedings of the 18th European Control Conference, 2020

A Smooth Uniting Controller for Robotic Manipulators: An Extension of the Adaptive Variance Algorithm (AVA).

[BibT_eX]

[DOI]

George Mesesan

Proceedings of the 2020 American Control Conference, 2020

2019

Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2019

Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Vibration Control for Manipulators on a Translationally Flexible Base.

[BibT_eX]

[DOI]

Fabian Beck

Proceedings of the International Conference on Robotics and Automation, 2019

Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control.

[BibT_eX]

[DOI]

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

2018

Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control.

[BibT_eX]

[DOI]

Proceedings of the 12th IFAC Symposium on Robot Control, 2018

Task-space Tracking Control for Underactuated Aerial Manipulators.

[BibT_eX]

[DOI]

Fabian Beck

Proceedings of the 16th European Control Conference, 2018

2017

Energy Based Limit Cycle Control of Elastically Actuated Robots.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2017

Passivity-based control of underactuated biped robots within hybrid zero dynamics approach.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation.

[BibT_eX]

[DOI]

Proceedings of the Human Friendly Robotics, 10th International Workshop, 2017

Momentum dumping for space robots.

[BibT_eX]

[DOI]

Alessandro M. Giordano

Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

2016

Limit Cycle Control Using Energy Function Regulation With Friction Compensation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2016

Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta.

[BibT_eX]

[DOI]

Alessandro M. Giordano

Proceedings of the 55th IEEE Conference on Decision and Control, 2016

2015

On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations.

[BibT_eX]

[DOI]

Johannes Englsberger

Proceedings of the American Control Conference, 2015

2014

Jumping control for compliantly actuated multilegged robots.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Control applications of TORO - A Torque controlled humanoid robot.

[BibT_eX]

[DOI]

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Overview of the torque-controlled humanoid robot TORO.

[BibT_eX]

[DOI]

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

2013

On the closed form computation of the dynamic matrices and their differentiations.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Modal limit cycle control for variable stiffness actuated robots.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Orbital stabilization of mechanical systems through semidefinite Lyapunov functions.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2013

2012

Walking control of fully actuated robots based on the Bipedal SLIP model.

[BibT_eX]

[DOI]