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Arne Sachtler

Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes

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Apr 12, 2024
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EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems

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Mar 03, 2023
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What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots?

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Nov 30, 2022
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Quasi-Orthogonal Foliations of the Configuration Space -- A Redundancy Resolution Approach at Position Level

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Feb 20, 2022
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