Manuel Keppler

According to our database, Manuel Keppler authored at least 20 papers between 2016 and 2024.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2024

Impact Robustness Versus Torque Bandwidth: A Design Guide for Differential Elastic Actuators.

Anton Leonhard Shu, Clara Raschel, Manuel Keppler, Armin Wedler, Martin Görner

IEEE Trans. Robotics, 2024

Robust Elastic Structure Preserving Control for High Impedance Rendering of Series Elastic Actuator.

Hyunwook Lee, Jinoh Lee, Manuel Keppler, Sehoon Oh

IEEE Robotics Autom. Lett., 2024

Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint.

Annika Schmidt, Filip Pasic, Davide Calzolari, Arne Sachtler, Thomas Gumpert, Manuel Keppler, Alin Albu-Schäffer

Proceedings of the European Control Conference, 2024

2023

Passivity-Based Motion and Force Tracking Control for Constrained Elastic Joint Robots.

Xuming Meng, Manuel Keppler, Christian Ott

IEEE Control. Syst. Lett., 2023

2022

Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments.

Manuel Keppler, Clara Raschel, David Wandinger, Andreas Stemmer, Christian Ott

IEEE Robotics Autom. Lett., 2022

Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators.

Marie Harder, Manuel Keppler, Xuming Meng, Christian Ott, Hannes Höppner, Alexander Dietrich

IEEE Robotics Autom. Lett., 2022

Elastic Structure Preserving Impedance Control for Nonlinearly Coupled Tendon-Driven Systems.

George Jose Pollayil, Xuming Meng, Manuel Keppler, Martin Pfanne, Antonio Bicchi, Christian Ott

IEEE Control. Syst. Lett., 2022

2021

Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control.

Manuel Keppler, Florian Loeffl, David Wandinger, Clara Raschel, Christian Ott

IEEE Robotics Autom. Lett., October, 2021

Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa).

Riccardo Mengacci, Manuel Keppler, Martin Pfanne, Antonio Bicchi, Christian Ott

IEEE Robotics Autom. Lett., 2021

Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach.

Nico Mansfeld, Manuel Keppler, Sami Haddadin

IEEE Robotics Autom. Lett., 2021

Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness Actuation.

Xuming Meng, Manuel Keppler, Christian Ott

Proceedings of the 2021 European Control Conference, 2021

2020

Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots.

Moritz Maier, Manuel Keppler, Christian Ott, Alin Albu-Schäffer

IEEE Robotics Autom. Lett., 2020

Joint-Level Control of the DLR Lightweight Robot SARA.

Maged Iskandar, Christian Ott, Oliver Eiberger, Manuel Keppler, Alin Albu-Schäffer, Alexander Dietrich

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

On Time-Optimal Control of Elastic Joints under Input Constraints.

Manuel Keppler, Alessandro De Luca

Proceedings of the 59th IEEE Conference on Decision and Control, 2020

2018

Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots.

Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer

IEEE Trans. Robotics, 2018

Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots.

Alexander Werner, Bernd Henze, Manuel Keppler, Florian Loeffl, Sigrid Leyendecker, Christian Ott

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots.

Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots.

Manuel Keppler, Dominic Lakatos, Alexander Werner, Florian Loeffl, Christian Ott, Alin Albu-Schäffer

Proceedings of the 16th European Control Conference, 2018

2016

A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots.

Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots.

Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer

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