E. Ostertag

Laboratoire des Sciences de l'Ingénieur, de l'Informatique et de l'Imagerie, Laboratoire d'Automatique, Génie Informatique et Signal

Papers

Total Citations

319

H-Index

About

E. Ostertag is a pioneering researcher in the field of robotics, specializing in robust control systems, dynamic modeling, and vision-based robot manipulation. Their most influential work, the 1999 survey on robust control of robot manipulators (286 citations), remains a foundational resource that systematically reviews modeling assumptions, actuator dynamics, and joint flexibility—providing a critical roadmap for control algorithm design. Ostertag introduced the innovative concept of "double dynamic modeling" (2002), which enhances classic robot dynamics by accounting for gear train yields and power transmission direction, significantly improving biped robot control accuracy. Their research also bridges computer vision and robotics, developing monocular vision systems for real-time object recognition and localization, enabling closed-loop control with dynamic targets. Ostertag further advanced robust H∞ controller design through nonlinear optimization, coupling normalized left coprime factors with sequential quadratic programming to achieve precise position tracking in industrial manipulators. With a career spanning from early visual sensor integration (1991) to high-impact control theory contributions, Ostertag’s work has shaped modern approaches to robot autonomy, offering practical solutions for both rigid and flexible-joint systems.