Chris Ganseman

About

Chris Ganseman is a researcher whose work sits at the intersection of robotics, system identification, and friction modeling — fields central to the development of precise, model-based robotic control systems. His most influential contribution, the integrated friction model structure for accurate friction compensation (2000), has garnered over 664 citations and remains a landmark reference for its elegant handling of both sliding and presliding regimes without relying on switching functions, incorporating hysteresis with nonlocal memory to capture real-world friction behavior with exceptional fidelity. Equally impactful is his work on optimal robot excitation and identification (1997), cited over 631 times, which introduced a rigorous statistical framework for designing optimal excitation trajectories and applying maximum-likelihood estimation to robot dynamics — a methodology that fundamentally shaped how researchers approach experimental robot identification. Throughout the late 1990s and early 2000s, Ganseman consistently advanced the field through contributions on Fourier-series-based trajectory parameterization, dynamic modeling of industrial mechanisms, and the fusion of internal and external robot models for improved parameter estimation. His body of work has provided both theoretical foundations and practical tools that continue to inform modern robotics research and control engineering.

Research Focus

Key Achievements

Top Papers

1. 1
   An integrated friction model structure with improved presliding behavior for accurate friction compensation

   664 citations · 2000
2. 2
   Optimal robot excitation and identification

   631 citations · 1997
3. 3
   EXPERIMENTAL ROBOT IDENTIFICATION USING OPTIMISED PERIODIC TRAJECTORIES

   116 citations · 1996
4. 4
   Generation of Periodic Trajectories for Optimal Robot Excitation

   24 citations · 1997
5. 5
   Experimental identification of robot dynamics for control

   18 citations · 2002
6. 6
   An Integrated Friction Model with Improved Presliding Behaviour

   9 citations · 1997
7. 7
   COMBINING INTERNAL AND EXTERNAL ROBOT MODELS FOR IMPROVED MODEL PARAMETER ESTIMATION

   8 citations · 2000
8. 8
   Dynamic modelling and identification of mechanisms with application to industrial robots

   3 citations · 1998
9. 9
   Design of PID Robot Controllers Via VSS Approach

   3 citations · 1997
10. 10
    Experimental robot identification using optimized periodic trajectories

    2 citations · 1994

Key Collaborators

Contact & Links