rmc logo

Institut für Robotik und Mechatronik: Dr.-Ing. Christian Ott

ott-25.jpg

Dr.-Ing. Christian Ott

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Analyse und Regelung komplexer Robotersysteme
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28-3464
E-Mail: Dr.-Ing. Christian Ott

CV

2001 Diploma in Mechatronics, Johannes-Keppler-University Linz, Austria
2001-2007 Researcher at DLR
2005 PhD (Dr.-Ing.) in Control Engineering from Saarland University, Germany
2007-2009 Project Assistant Professor at University of Tokyo, Japan
2009-2013 Team Leader on Bipedal Walking at DLR
2011-2016 Head of Helmholtz Young Inverstigator's Research Group (DLR&TUM)

since
2014

Head of Department "Analysis and Control of Advanced Robotic Systems" at Institute of Robotics and Mechatronics, DLR

 

 

 

 

 

 

Fields of Interest

  • Nonlinear Control
  • Flexible Joint Manipulators
  • Impedance Control
  • Kinematic Redundancy
  • Dual Arm Manipulation
  • Robot Dynamics
  • Humanoid Robots
  • Bipedal Walking
  • (physical) Human-Robot Interaction

Teaching

  • WS 12/13, 14/15: Modeling and Control of Humanoid Walking Robots, TU München
  • WS 09/10 - 11/12: Adaptive and Predictive Control, TU München 

Publications

Book

  • Ch. Ott, Cartesian Impedance Control of Redundant and Flexible-Joint Robots, Springer Tracts in Advanced Robotics (STAR), Vol. 49, ISBN: 978-3-540-69253-9, Springer-Verlag, 2008.
Journal Publications
  • Ch. Ott, A. Dietrich, A. Albu-Schäffer, Prioritized Multi-Task Compliance Control of Redundant Manipulators, Automatica, accepted, 2015.
  • A. Dietrich, Ch. Ott, A. Albu-Schäffer, An Overview of Null Space Projections for Redundant, Torque Controlled Robots, IJRR, accepted, 2015.
  • Tadej Petric, Leon Žlajpah, Gianluca Garofalo and Christian Ott, Walking with Adaptive Oscillator and Dynamic Movement Primitives, accepted for publication in International Journal of Mechanics and Control (JoMaC), 2014.
  • Ch. Ott, R. Mukherjee, and Y. Nakamura, A Hybrid System Framework for Unified Impedance and Admittance Control, Journal of Intelligent & Robotic Systems, July 2014.
  • J. Englsberger and Ch. Ott, Walking stabilization for humanoid robots based on control of the Capture Point, at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, pp. 692-703, 11/2012.
  • Ch. Ott, O. Eiberger, J. Englsberger, M. A. Roa, and A. Albu-Schäffer, Hardware and Control Concept for an Experimental Bipedal Robot with Joint Torque Sensors, Journal of the Robotics Society of Japan, Vol. 30, No. 4, pp. 378-382, May 2012.
  • D. Kulic, Ch. Ott, D. Lee, J. Ishikawa, and Y. Nakamura, Incremental Learning of Full Body Motion Primitives and their Sequencing through Human Motion Observation, The International Journal of Robotics Research, Vol 31, No. 3, 2012.
  • T. Wimböck, Ch. Ott, A. Albu-Schäffer, and G. Hirzinger, Comparison of Object Level Grasp Controllers for Dynamic Dexterous Manipulation, The International Journal of Robotics Research, Vol. 31, No. 1, pp. 3-23, 2012.
  • D. Lee and Ch. Ott, Incremental Kinesthetic Teaching of Motion Primitives using the Refinement Tube, Autonomous Robots, Vol. 31, Nr. 2, pp. 115-131, 2011.
  • T. Wimböck, Ch. Borst, A. Albu-Schäffer, Ch. Ott, F. Schmidt, M. Fuchs, W. Friedl, O. Eiberger, A. Baumann, A. Beyer, and G. Hirzinger, DLR's Two-Handed Humanoid Justin: System Design, Integration, and Control,
    at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, Vol. 58, No. 11, pp. 622-628, 2010.
  • D. Lee, Ch. Ott, and Y. Nakamura, Mimetic Communication Model with Compliant Physical Contact in Human-Humanoid Interaction, The International Journal of Robotics Research, Vol. 29, No. 13, 2010.
  • A. Albu-Schaeffer, O. Eiberger, M. Grebenstein, S. Haddadin, Ch. Ott, T. Wimboeck, S. Wolf, and G. Hirzinger, Soft Robotics: From Torque Feedback Controlled Lightweight Robots to Intrinsically Compliant Systems, IEEE Robotics and Automation Magazine, Vol. 15, No. 3, pp. 20-30, September 2008.
  • Ch. Ott, A. Albu-Schaeffer, A. Kugi, and G. Hirzinger, On the Passivity Based Impedance Control of Flexible Joint Robots, IEEE Transactions on Robotics, Vol. 24, No. 2, pp. 416-429, April 2008.
  • A. Albu-Schäffer, Ch. Ott, and G. Hirzinger, A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots, The International Journal of Robotics Research, Vol. 26, No. 1, January 2007, pp.23-39.
  • A. Albu-Schaeffer, S. Haddadin, Ch. Ott, A. Stemmer, T. Wimboeck, and G. Hirzinger, The DLR Lightweight Robot - Design and Control Concepts in Human Environments, Industrial Robot: An International Journal, Vol. 34, No. 5, pages 376 - 385, 2007. Outstanding Paper Award at the Literati Network Awards.
  • Ch. Ott, A. Albu-Schäffer, A. Kugi, S. Stramigioli, and G. Hirzinger, Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz, at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, pages 378-388, August 2005. Best Paper Award 2005.
Book Chapters
  • M. A. Roa and Ch. Ott, Balance and Posture Control for Biped Robots, Chapter 8 in Multibody System Dynamics, Robotics, and Control, X, H. Gattringer and J. Gerstmayr (Eds.), Springer Verlag, pp. 129-144, 2013.
  • Ch. Ott, A. Albu-Schäffer, A. Kugi, and G. Hirzinger, Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach, Chapter IX.5 in Cutting Edge Robotics, V. Kordic, A. Lazinica, and M. Merdan (Eds.), Advanced Robotic Systems International, pro literatur Verlag, pages 671-682, 2005.
  • G. Schreiber, Ch. Ott, and G. Hirzinger, Interactions with a kinematic redundant robot while balancing an Inverted Pendulum, Chapter in Advances in Human-Robot Interaction Editors: E. Prassler et al., Springer Verlag, 2004, Springer Tracts in Advanced Robotics.
International Conference Papers
  • Gianluca Garofalo, Johannes Englsberger, Christian Ott, On the regulation of the energy of elastic joint robots: excitation and damping of oscillations, ACC 2015
  • G. Garofalo, B. Henze, J. Englsberger, Ch. Ott, On the inertially decoupled structure of the floating base robot dynamics, MATHMOD 2015
  • J. Klodmann, D. Lakatos, Ch. Ott, A. Albu-Schaeffer, A Closed-Form Approach to Determine the Base Inertial Parameters of Complex Structured Robotic Systems, MATHMOD 2015
  • A. Werner, R. Lampariello, Ch. Ott, Trajectory Optimization for Walking Robots with Series Elastic Actuators, CDC 2014
  • T. Wimböck, M. Jasiska, Ch. Ott, Humanoid compliant whole arm dexterous manipulation: Control design and experiments, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014, Chicago/USA, September 2014, pp. 1616-1621.
  • J. Englsberger, T. Koolen, S. Bertrand, J. Pratt, Ch. Ott, A. Albu-Schäffer, Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014, Chicago/USA, September 2014, pp. 4022-4029.
  • Bernd Henze, Christian Ott, Maximo A. Roa, Posture and Balance Control for Humanoid Robots in Multi-Contact Scenarios Based on Model Predictive Control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014, Chicago/USA, September 2014, pp. 3253-3258.
  • Florian Petit, Christian Ott, Alin Albu-Schäffer, A Model-Free Damping Controller for Variable Stiffness Robots, IEEE International Conference on Robotics and Automation (ICRA), pp. 2176-2182, 2014.
  • Kai Hu, Christian Ott, Dongheui Lee, Online Human Walking Imitation in Task and Joint Space based on Quadratic Programming, IEEE International Conference on Robotics and Automation (ICRA), pp. 3458-3464, 2014.
  • Ch. Ott, B. Henze, and D. Lee, Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing, accepted for publication at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
  • G. Garofalo, Ch. Ott, and A. Albu-Schäffer,On the closed form computation of the dynamic matrices and their differentiations, accepted for publication at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
  • J. Englsberger, Ch. Ott, A. Albu-Schäffer,Three-dimensional bipedal walking control using Divergent Component of Motion, accepted for publication at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
  • A. Dietrich, Ch. Ott, A. Albu-Schäffer, Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability, accepted for publication at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013.
  • T. Petric and L. Zlajpah and G. Garofalo and Ch. Ott, Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives, accepted for publication at International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD) 2013.
  • G. Garofalo, Ch. Ott, and A. Albu-Schäffer, Orbital stabilization of mechanical systems through semidefinite Lyapunov functions, accepted for publication at ACC 2013.
  • D. Lakatos, G. Garofalo, F. Petit, Ch. Ott, and A. Albu-Schäffer, Modal Limit Cycle Control for Variable Stiffness Actuated Robots, accepter for publication at ICRA 2013.
  • H. Kaminaga, J. Englsberger, and Ch. Ott, Kinematic Optimization and Online Regeneration of Swing Foot Trajectory for Biped Locomotion, accepted for publication at HUMANOIDS 2012.
  • J. Englsberger and Ch. Ott, Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking, accepted for publication at HUMANOIDS 2012
  • A. Werner, R. Lampariello, and Ch. Ott, Optimization-based generation and experimental validation of optimal walking trajectories for biped robots, accepted for publication at IROS 2012.
  • M. Krause, J. Englsberger, P.-B. Wieber, and Ch. Ott, Stabilization of the Capture Point Dynamics for Bipedal Walking based on Model Predictive Control, 10th IFAC Symposium on Robot Control - SYROCO, pp. 165-171, 2012.
  • G. Garofalo, Ch. Ott, and A. Albu-Schäffer, Walking control of fully actuated robots based on the Bipedal SLIP model, IEEE International Conference on Robotics and Automation 2012, pp. 1456-1463, St. Paul/Minnesota/USA.
  • Ch. Ott, M. Roa, and G. Hirzinger, Posture and Balance Control for Biped Robots based on Contact Force Optimization, Best paper Award at IEEE-RAS International Conference on Humanoid Robots 2011, pp. 26-33, Bled/Slovenia, , .
  • Ch. Ott, J. Artigas, and C. Preusche, Subspace-oriented Energy Distribution for the Time Domain Passivity Approach, IEEE/RSJ International Conference on Intelligent Robots and Systems 2011, pp. 665 - 671, San Francisco/USA
  • J. Englsberger, Ch. Ott, M. Roa, A. Albu-Schäffer, and G. Hirzinger, Bipedal Walking Control based on Capture Point Dynamics, IEEE/RSJ International Conference on Intelligent Robots and Systems 2011, pp. 4420-4427, San Francisco/USA.
  • T. Wimböck, M. Grebenstein, M. Chalon, W. Friedl, Ch. Ott, A. Albu-Schäffer, and Gerd Hirzinger, From Actively Impedance Controlled Light-weight Robot Hands to Intrinsically Compliant Systems, ICRA 2011 Workshop on Manipulation Under Uncertainty, 2011.
  • Ch. Ott, Ch. Baumgärtner, J. Mayr, M. Fuchs, R. Burger, D. Lee, O. Eiberger, A.Albu-Schäffer, M. Grebenstein, and G. Hirzinger, Development of a Biped Robot with Torque Controlled Joints, IEEE-RAS International Conference on Humanoid Robots 2010, pp. 167-173, Nashville/TN/USA, .
  • T. Wimböck, Ch. Ott, and A. Albu-Schäffer, Immersion and Invariance Control for an Antagonistic Joint with Nonlinear Mechanical Stiffness, 49th IEEE Conference on Decision and Control, 2010, Atlanta/USA.
  • D. Lee and Ch. Ott,Incremental Motion Primitive Learning by Physical Coaching Using Impedance Control, IEEE/RSJ International Conference on Intelligent Robots and Systems 2010, pp. 4133-4140, Taiwan.
  • Ch. Ott, R. Mukherjee, and Y. Nakamura, Unified Impedance and Admittance Control, IEEE International Conference on Robotics and Automation 2010, pp. 554-561.
  • D. Lee and Ch. Ott, Incremental Motion Primitive Learning and Refinement via Correspondence Problem and Physical Coaching, Workshop on Humanoid Robots Learning from Human Interaction at IEEE-RAS International Conference on Humanoid Robots, 2010.
  • A. Albu-Schäffer, O. Eiberger, M. Fuchs, M. Grebenstein, S. Haddadin, Ch. Ott, A. Stemmer, T. Wimböck, S. Wolf, and G. Hirzinger, Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance, International Symposium of Robotics Research 2009, Lucerne/Switzerland.
  • Ch. Ott and Y. Nakamura, Base Force/Torque Sensing for Position based Cartesian Impedance Control, IEEE/RSJ International Conference on Intelligent Robots and Systems 2009, pp. 3244-3250, St. Lous/USA.
  • Ch. Ott, and Y. Nakamura,Admittance Control using a Base Force/Torque Sensor, International IFAC Symposium on Robot Control (SYROCO) 2009, pp. 601-606, Gifu/Japan.
  • D. Lee, Ch. Ott, and Y. Nakamura, Mimetic Communication with Impedance Control for Physical Human-Robot Interaction, IEEE International Conference on Robotics and Automation 2009, pp. 1535-1542, Kobe/Japan. Finalist for the KUKA Service Robotics Best Paper Award.
  • Ch. Ott, D. Lee, and Y. Nakamura, Motion Capture based Human Motion Recognition and Imitation by Direct Marker Control, IEEE-RAS International Conference on Humanoid Robots 2008, pp. 399-405, Daejeon/Korea.
  • D. Kulic, D. Lee, Ch. Ott, and Y. Nakamura, Incremental Learning of Full Body Motion Primitives for Humanoid Robots, IEEE-RAS International Conference on Humanoid Robots 2008, pp. 326-332, Daejeon/Korea.
  • T. Wimböck, Ch. Ott, A. Albu-Schäffer, A. Kugi, and G. Hirzinger, Impedance Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling, IEEE/RSJ International Conference on Intelligent Robots and Systems 2008, pp. 3796-3803.
  • Ch. Ott and Y. Nakamura,Employing wave variables for coordinated control of robots with distributed control architecture, IEEE International Conference on Robotics and Automation 2008, pp. 575-582, Pasadena/California, Finalist for the Best Conference Paper Award.
  • Ch. Ott, A. Kugi, and Y. Nakamura, Resolving the Problem of Non-integrability of Nullspace Velocities for Compliance Control of Redundant Manipulators by using Semi-definite Lyapunov functions, IEEE International Conference on Robotics and Automation 2008, pp. 1999-2004, Pasadena/California.
  • T. Wimböck, Ch. Ott, A. Kugi, and G. Hirzinger, Analysis and Experimental Evaluation of the Intrinsically Passive Controller (IPC) for
    Multifingered Hands, IEEE International Conference on Robotics and Automation 2008, pp. 278-284, Pasadena/California.
  • A. De Santis, A Albu-Schäffer, Ch. Ott, B. Siciliano, and G. Hirzinger, The skeleton algorithm for self-collision avoidance of a humanoid manipulator,
    2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Zürich/Swiss.
  • Ch. Ott, B. Bäuml, Ch. Borst, and G. Hirzinger, Autonomous Opening of a Door with a Mobile Manipulator: A Case Study, IFAC Symposium on Intelligent Autonomous Vehicles 2007, Toulouse/France.
  • T. Wimböck, Ch. Ott, and G. Hirzinger, Impedance Behaviors for Two-Handed Manipulation: Design and Experiments, IEEE International Conference on Robotics and Automation 2007, pp. 4182-4189, Rome/Italy.
  • Ch. Ott, O. Eiberger, W. Friedl, B. Bäuml, U. Hillenbrand, Ch. Borst, A. Albu-Schäffer, B. Brunner, H. Hirschmüller, S. Kielhöfer, R. Konietschke, M. Suppa, T. Wimböck, F. Zacharias, and G. Hirzinger, A Humanoid Two-Arm System for Dexterous Manipulation, IEEE-RAS International Conference on Humanoid Robots 2006, pp. 276-283, Genova/Italy, .
  • Ch. Ott, A. Albu-Schäffer, and G. Hirzinger, A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure, IEEE/RSJ International Conference on Intelligent Robots and Systems 2006, pp. 4502-4508, Beijing/China, .
  • T. Wimböck, Ch. Ott, and G. Hirzinger, Passivity-Based Object-Level Impedance Control for a Multifingered Hand, IEEE/RSJ International Conference on Intelligent Robots and Systems 2006, pp. 4621-4627, Beijing/China.
  • T. Ortmaier, H. Weiss, Ch. Ott, and G. Hirzinger, A Soft Robotics Approach for Navigated Pedicle Screw Placement - first experimental results, Computer Assisted Radiology and Surgery (CARS) 2006, Osaka/Japan.
  • T. Ortmaier, H. Weiss, U. Hagn, M. Grebenstein, M. Nickl, A. Albu-Schäffer, Ch. Ott, S. Jörg, R. Konietschke, L. Le-Tien, and G. Hirzinge, A Hands-On-Robot for Accurate Placement of Pedicle Screws, IEEE International Conference on Robotics and Automation, 2006, Orlando/Florida/USA.
  • A. Albu-Schäffer, Ch. Ott, and G. Hirzinger, A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots, ISRR 2005.
  • A. Albu-Schäffer, Ch. Ott, and G. Hirzinger, Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems, IEEE Int. Conf. on Robotics and Automation 2005, Barcelona/Spain.
  • Ch. Ott, B. Bäuml, Ch. Borst, and G. Hirzinger, Employing Cartesian Impedance Control for the Opening of a Door: A Case Study in
    Mobile Manipulation, Invited paper for the IROS-2005-Workshop "Mobile Manipulators: Basic Techniques, New Trends & Applications", IEEE/RSJ International Conference on Intelligent Robots and Systems 2005.
  • U. Hillenbrand, Ch. Ott, B. Brunner, Ch. Borst, and G. Hirzinger, Towards Service Robots for the Human Environment: the Robutler, MechRob 2004.
  • A. Albu-Schäffer, Ch. Ott, and G. Hirzinger, Passivity Based Cartesian Impedance Control for Flexible Joint Manipulators, NOLCOS 2004, Stuttgart/Germany.
  • Ch. Ott, A. Albu-Schäffer, A. Kugi, S. Stramigioli and G. Hirzinger, A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation, IEEE Int. Conf. on Robotics and Automation, pp. 2659-2665, 2004, New Orleans/LA/USA, .
  • A. Albu-Schäffer, Ch. Ott and G. Hirzinger, A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments, IEEE Int. Conf. on Robotics and Automation, pp. 2666-2672, 2004, New Orleans/LA/USA, .
  • Ch. Ott, A. Albu-Schäffer, A. Kugi and G. Hirzinger, Decoupling Based Cartesian Impedance Control of Flexible Joint Robots, IEEE Int. Conf. of Robotics and Automation 2003, Taipei/Taiwan, .
  • A. Albu-Schäffer, Ch. Ott, U. Frese and G. Hirzinger, Cartesian Impedance Control of Redundant Robots: Recent Results with the DLR Light-Weight-Arms, IEEE International Conference of Robotics and Automation 2003, Taipei/Taiwan, .
  • Ch. Ott, A. Albu-Schäffer, and G. Hirzinger, Comparison of Adaptive and Nonadaptive Tracking Control Laws for a flexible Joint Manipulator, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2018-2024, 2002, .
  • G. Schreiber, Ch. Ott, and G. Hirzinger, Interactive Redundant Robotics: Control of the Inverted Pendulum with Nullspace Motion, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 158-164, 2001
National Conference Papers
  • H. Kaminaga, J. Englsberger, and Ch. Ott, 二足歩行の歩行能力を向上するための遊脚軌道最適化およびオンライン軌道修正, 30th Annual Conference of the Robotics Society of Japan 2012.
  • Ch. Ott, D. Lee, and Y. Nakamura, 人間とロボット身体的インタラクションのためのミメティク・コミュニケーション(第一報:制御)(Mimetic Communication for Physical Human-Robot-Interaction – Part I: Control), 14th Robotics Symposia, 16.-17.3. 2009, Noboribetsu/Hokkaido/Japan.
  • D. Lee, Ch. Ott, and Y. Nakamura, 人間とロボット身体的インタラクションのためのミメティク・コミュニケーション(第二報:インタラクション学習)(Mimetic Communication for Physical Human-Robot-Interaction – Part II: Interaction Learning), 14th Robotics Symposia, 16.-17.3. 2009, Noboribetsu/Hokkaido/Japan.
  • T. Kawakami, K. Ayusawa, H. Kaminaga, K. Kurosaki, Ch. Ott, and Y. Nakamura, ロボットのトルク制御関節のためのリニアエンコーダを用いた高剛性トルクセンサの開発(Development of Rigid Torque Sensor with Linear Encoder for Joint Torque Control), 14th Robotics Symposia, 16.-17.3. 2009, Noboribetsu/Hokkaido/Japan.
  • T. Kawakami, K. Ayusawa, H. Kaminaga, Ch. Ott, and Y. Nakamura, 高剛性トルク計測関節駆動機構とそのトルク制御系の設計(Development of Joint Driving Mechanism with Rigid Torque Sensor and its Torque Control Systems), 2008 JSME Conference on Robotics and Mechatronics (ROBOMEC’08), 5.-7.6. 2008, Nagano/Japan.
  • D. Kulic, D. Lee, Ch. Ott, and Y. Nakamura, 人間の全身運動プリミティブの漸次的な学習(Incremental Learning of Whole Body Motion Primitives of Humans), 26th Annual Conference of the Robotics Society of Japan 2008, Kobe/Japan.
  • Ch. Ott and Y. Nakamura, Kartesische Nachgiebigkeitsregelung für Robotersysteme mit verteilter Steuerungsarchitektur, "Robotik-2008"-Conference, 11.-12.6. 2008, Munich/Germany.
  • Ch. Ott and Y. Nakamura, Asymptotically stable compliance control of redundant robots: A solution to the nonintegrability problem of nullspace velocities, 25th Annual Conference of the Robotics Society of Japan, 2007, Chiba/Japan.
  • T. Ortmaier, H. Weiß, U. Hagn, M. Grebenstein, M. Nickl, A. Albu-Schäffer, Ch. Ott, S. Jörg, R. Konietschke, G. Hirzinger, R. Essenreiter, and M. Bertram, Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben,  VDI-Conference "Mechatronik-2005", 1.-2.6.2005, Wiesloch bei Heidelberg/Germany, Best Paper Award.
  • Ch. Ott, A. Albu-Schäffer, A. Kugi, S. Stramigioli and G. Hirzinger,Ein passivitätsbasierter Ansatz zur kartesischen Impedanzregelung von Robotern mit elastischen Gelenken, "Robotik-2004"-Conference, VDI-Berichte Nr. 1841, pages 71-79, 17.-18.6. 2004, Munich/Germany.
Video Publications
  • B. Henze, A. Werner, M. A. Roa, G. Garofalo, J. Englsberger, Ch. Ott, Control Applications of TORO - a Torque Controlled Humanoid Robot , IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2014, Best Video Award.
  • D. Lee, Ch. Ott, Y. Nakamura, G. Hirzinger, Physical Human-Robot Interaction in Imitation Learning, IEEE Int. Conf. on Robotics and Automation 2011, .
  • Ch. Borst, Ch. Ott, T. Wimböck, B. Brunner, F. Zacharias, B. Bäuml, U. Hillenbrand, S. Haddadin, A. Albu-Schäffer, and G. Hirzinger, A humanoid upper body system for two-handed manipulation, IEEE Int. Conf. on Robotics and Automation 2007, Roma/Italy. Best Video Award 2007, .
  • Ch. Ott, Ch. Borst, U. Hillenbrand, B. Brunner, B. Bäuml, and G. Hirzinger, The Robutler: Towards Service Robots for the Human Environment, IEEE Int. Conf. on Robotics and Automation 2005, Barcelona/Spain. Finalist for the ICRA 2005 Video Award. The video can be downloaded at the homepage of the Robutler project.
Other Publications
  • Ch. Ott, Cartesian Impedance Control of Flexible Joint Manipulators, PhD Thesis, Saarland University, November 2005.
  • Ch. Ott, Diploma Thesis: Stabilization of an Inverted Pendulum with a Redundant Robot (transl.), Diploma Thesis at the Johannes-Kepler-University of Linz, Austria, October 2000,http://www.dlr.de/rmc/rm/de/staff/christian.ott/ng808

 

Zuletzt aktualisiert: Dienstag, 20. Januar 2015 von Dr.-Ing. Christian Ott