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Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor


Mar 01, 2020
Yuri S. Sarkisov, Min Jun Kim, Andre Coelho, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak


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Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator


Feb 11, 2020
Andre Coelho, Harsimran Singh, Konstantin Kondak, Christian Ott

* to be published in 2020 IEEE International Conference on Robotics and Automation (ICRA) 

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Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation


Oct 10, 2019
Andre Coelho, Christian Ott, Harsimran Singh, Fernando Lizarralde, Konstantin Kondak

* 2019 19th International Conference on Advanced Robotics (ICAR) 

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Multi-DoF Time Domain Passivity Approach based Drift Compensation for Telemanipulation


Sep 04, 2019
Andre Coelho, Christian Ott, Harsimran Singh, Fernando Lizarralde, Konstantin Kondak


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Model-free Friction Observers for Flexible Joint Robots with Torque Measurements


Jul 01, 2019
Min Jun Kim, Fabian Beck, Christian Ott, Alin Albu-Schaeffer

* IEEE Transactions on Robotics 

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A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions


Apr 18, 2019
Min Jun Kim, Woongyong Lee, Jae Yeon Choi, Goobong Chung, Kyung-Lyong Han, Il Seop Choi, Christian Ott, Wan Kyun Chung

* Accepted in IEEE/ASME Transactions on Mechatronics (T-MECH) 

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A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements


Mar 18, 2019
Hrishik Mishra, Marco De Stefano, Alessandro Massimo Giordano, Christian Ott

* 8 pages, 6 figures 

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Development of SAM: cable-Suspended Aerial Manipulator


Mar 06, 2019
Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak

* Accepted to International Conference on Robotics and Automation (ICRA) 2019, IEEE copyright, 7 pages, 14 figures 

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Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses


Sep 24, 2018
Min Jun Kim, Jianjie Lin, Konstantin Kondak, Dongheui Lee, Christian Ott

* IFAC Symposium on Robot Control (SYROCO) 2018 

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Passive Compliance Control of Aerial Manipulators


Aug 09, 2018
Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott

* IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018 

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