The following publications are possibly variants of this publication:
- Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated RobotsManuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer. iros 2018: 5861-5868 [doi]
- Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated RobotsManuel Keppler, Dominic Lakatos, Alexander Werner, Florian Loeffl, Christian Ott, Alin Albu-Schäffer. eucc 2018: 255-260 [doi]
- Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa)Riccardo Mengacci, Manuel Keppler, Martin Pfanne, Antonio Bicchi, Christian Ott. ral, 6(2):879-886, 2021. [doi]
- Elastic Structure Preserving Impedance Control of Bidirectional Antagonistic Variable Stiffness ActuationXuming Meng, Manuel Keppler, Christian Ott. eucc 2021: 263-269 [doi]
- Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and ExperimentsManuel Keppler, Clara Raschel, David Wandinger, Andreas Stemmer, Christian Ott 0001. ral, 7(3):8283-8290, 2022. [doi]
- Robust Elastic Structure Preserving Control for High Impedance Rendering of Series Elastic ActuatorHyunwook Lee, Jinoh Lee, Manuel Keppler, Sehoon Oh. ral, 9(4):3601-3608, 2024. [doi]
- Jumping control for compliantly actuated multilegged robotsDominic Lakatos, Gianluca Garofalo, Alexander Dietrich, Alin Albu-Schäffer. icra 2014: 4562-4568 [doi]
- Optimal torque and stiffness control in compliantly actuated robotsDavid J. Braun, Florian Petit, Felix Huber, Sami Haddadin, P. Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar. iros 2012: 2801-2808 [doi]
- Structure preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid RobotsAlexander Werner, Bernd Henze, Manuel Keppler, Florian Loeffl, Sigrid Leyendecker, Christian Ott. iros 2018: 1233-1240 [doi]