Papers
16
Total Citations
297
H-Index
10
About
Manuel Keppler is a robotics researcher specializing in the dynamics and control of compliant and elastic robotic systems, with a particular focus on making robots safer, more energy-efficient, and mechanically robust. His most influential contribution is the development of Elastic Structure Preserving (ESP) control, introduced in a 2018 paper that has garnered 83 citations, which elegantly addresses the core challenge of harnessing the energy-storing benefits of physical compliance while maintaining precise motion control. Rather than treating elasticity as a nuisance to be suppressed, Keppler's work reframes it as a structural asset to be preserved and shaped. His research extends across variable-stiffness actuators, agonistic-antagonistic drives, Cartesian impedance control, and passivity-based trajectory tracking, demonstrating a broad and cohesive vision for next-generation articulated soft robots. Notably, his work on the DLR Lightweight Robot SARA and his unifying quasi-full actuation framework reflect a commitment to bridging theoretical elegance with real-world experimental validation. His contributions to combining ESP control with PID schemes for global stabilization further demonstrate the practical applicability of his ideas. With over 265 cumulative citations, Keppler has established himself as a significant voice in compliant robotics, offering tools and frameworks that are increasingly relevant as robots move into human-centered environments.
Research Focus
Key Achievements
Top Papers
- 1Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots83 citations · 2018
- 2Joint-Level Control of the DLR Lightweight Robot SARA33 citations · 2020
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- 10Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach10 citations · 2021