Catching flying balls with a mobile humanoid: System overview and design considerations. - Berthold Bäuml; Oliver Birbach; Thomas Wimböck; Udo Frese; Alexander Dietrich; Gerd Hirzinger (Humanoids, 2011)

Catching flying balls and preparing coffee: Humanoid Rollin'Justin performs dynamic and sensitive tasks. - Berthold Bäuml; Florian Schmidt 001; Thomas Wimböck; Oliver Birbach; Alexander Dietrich; Matthias Fuchs; Werner Friedl; Udo Frese; Christoph Borst 001; Markus Grebenstein; Oliver Eiberger; Gerd Hirzinger (ICRA, 2011)

Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint. - Alexander Dietrich; Thomas Wimböck; Alin Albu-Schäffer; Gerd Hirzinger (ICRA, 2011)

Extensions to reactive self-collision avoidance for torque and position controlled humanoids. - Alexander Dietrich; Thomas Wimböck; Holger Täubig; Alin Albu-Schäffer; Gerd Hirzinger (ICRA, 2011)

Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws. - Alexander Dietrich; Thomas Wimböck; Alin Albu-Schäffer (IROS, 2011)

On continuous null space projections for torque-based, hierarchical, multi-objective manipulation. - Alexander Dietrich; Alin Albu-Schäffer; Gerd Hirzinger (ICRA, 2012)

Fischkopp. - Alexander Dietrich; Dominic Eise; Johannes Flick (SIGGRAPH Asia Computer Animation Festival, 2012)

Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom. - Alexander Dietrich; Thomas Wimböck; Alin Albu-Schäffer; Gerd Hirzinger (IEEE Robotics Autom. Mag., 2012)

Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy. - Alexander Dietrich; Thomas Wimböck; Alin Albu-Schäffer; Gerd Hirzinger (IEEE Trans. Robotics, 2012)

Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability. - Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (IROS, 2013)

A modally adaptive control for multi-contact cyclic motions in compliantly actuated robotic systems. - Dominic Lakatos; Martin Görner; Florian Petit; Alexander Dietrich; Alin Albu-Schäffer (IROS, 2013)

Workspace analysis for a kinematically coupled torso of a torque controlled humanoid robot. - Alexander Dietrich; Melanie Kimmel; Thomas Wimböck; Sandra Hirche; Alin Albu-Schäffer (ICRA, 2014)

Jumping control for compliantly actuated multilegged robots. - Dominic Lakatos; Gianluca Garofalo; Alexander Dietrich; Alin Albu-Schäffer (ICRA, 2014)

Object-centered hybrid reasoning for whole-body mobile manipulation. - Daniel Leidner; Alexander Dietrich; Florian Schmidt 001; Christoph Borst 001; Alin Albu-Schäffer (ICRA, 2014)

Experimental comparison of slip detection strategies by tactile sensing with the BioTac® on the DLR hand arm system. - Jens Reinecke; Alexander Dietrich; Florian Schmidt 001; Maxime Chalon (ICRA, 2014)

Torque-based multi-task and balancing control for humanoid robots. - Christian Ott 001; Alexander Dietrich; Máximo A. Roa (URAI, 2014)

The Thumb of the Anthropomorphic Awiwi Hand: From Concept to Evaluation. - Maxime Chalon; Alexander Dietrich; Markus Grebenstein (Int. J. Humanoid Robotics, 2014)

Classifying compliant manipulation tasks for automated planning in robotics. - Daniel Leidner; Christoph Borst 001; Alexander Dietrich; Michael Beetz; Alin Albu-Schäffer (IROS, 2015)

Prioritized multi-task compliance control of redundant manipulators. - Christian Ott 001; Alexander Dietrich; Alin Albu-Schäffer (Autom., 2015)

An overview of null space projections for redundant, torque-controlled robots. - Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (Int. J. Robotics Res., 2015)

Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots. - Florian Petit; Alexander Dietrich; Alin Albu-Schäffer (IEEE Robotics Autom. Mag., 2015)

Online motion generation for mirroring human arm motion. - Roman Weitschat; Alexander Dietrich; Jörn Vogel (ICRA, 2016)

Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin. - Alexander Dietrich; Kristin Bussmann; Florian Petit; Paul Kotyczka; Christian Ott 001; Boris Lohmann; Alin Albu-Schäffer (Auton. Robots, 2016)

Knowledge-enabled parameterization of whole-body control strategies for compliant service robots. - Daniel Leidner; Alexander Dietrich; Michael Beetz; Alin Albu-Schäffer (Auton. Robots, 2016)

Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks. - Alexander Dietrich; Christian Ott 001; Stefano Stramigioli (IEEE Robotics Autom. Lett., 2016)

An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. - Bernd Henze; Alexander Dietrich; Christian Ott 001 (IEEE Robotics Autom. Lett., 2016)

Whole-Body Impedance Control of Wheeled Humanoid Robots - Alexander Dietrich (Springer, 2016)

Position control of an underactuated continuum mechanism using a reduced nonlinear model. - Bastian Deutschmann; Alexander Dietrich; Christian Ott 001 (CDC, 2017)

Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts. - Bernd Henze; Alexander Dietrich; Máximo A. Roa; Christian Ott 001 (IROS, 2017)

Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators. - Nico Mansfeld; Fabian Beck 002; Alexander Dietrich; Sami Haddadin (IROS, 2017)

Passive Hierarchical Impedance Control Via Energy Tanks. - Alexander Dietrich; Xuwei Wu; Kristin Bussmann; Christian Ott 001; Alin Albu-Schäffer; Stefano Stramigioli (IEEE Robotics Autom. Lett., 2017)

Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation. - Kristin Bussmann; Alexander Dietrich; Christian Ott 001 (ICRA, 2018)

Robust H∞ control of a tendon-driven elastic continuum mechanism via a systematic description of nonlinearities. - Anton Leonhard Shu; Bastian Deutschmann; Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (SyRoCo, 2018)

A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism. - Bastian Deutschmann; Tong Liu; Alexander Dietrich; Christian Ott 001; Dongheui Lee (IEEE Robotics Autom. Lett., 2018)

The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case. - Alexander Dietrich; Christian Ott 001; Jaeheung Park (IEEE Robotics Autom. Lett., 2018)

Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees. - Bernd Henze; Máximo A. Roa; Alexander Werner; Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (ICRA, 2019)

Employing Whole-Body Control in Assistive Robotics. - Maged Iskandar; Gabriel Quere; Annette Hagengruber; Alexander Dietrich; Jörn Vogel (IROS, 2019)

Numerical Simulation Of Condensing Ammonia In Plate Heat Exchangers Using CFD. - Alexander Dietrich; Mario Nowitzki; Ron van de Sand; Joerg Reiff-Stephan (ECMS, 2020)

Joint-Level Control of the DLR Lightweight Robot SARA. - Maged Iskandar; Christian Ott 001; Oliver Eiberger; Manuel Keppler; Alin Albu-Schäffer; Alexander Dietrich (IROS, 2020)

EDAN: An EMG-controlled Daily Assistant to Help People With Physical Disabilities. - Jörn Vogel; Annette Hagengruber; Maged Iskandar; Gabriel Quere; Ulrike Leipscher; Samuel Bustamante; Alexander Dietrich; Hannes Höppner; Daniel Leidner; Alin Albu-Schäffer (IROS, 2020)

MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. - Johannes Englsberger; Alexander Dietrich; George Mesesan; Gianluca Garofalo; Christian Ott 001; Alin Albu-Schäffer (Robotics: Science and Systems, 2020)

An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation. - Jens Reinecke; Bastian Deutschmann; Alexander Dietrich; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2020)

Coordination of thrusters, reaction wheels, and arm in orbital robots. - Alessandro M. Giordano; Alexander Dietrich; Christian Ott 001; Alin Albu-Schäffer (Robotics Auton. Syst., 2020)

Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots. - Alexander Dietrich; Christian Ott 001 (IEEE Trans. Robotics, 2020)

Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy. - Maged Iskandar; Oliver Eiberger; Alin Albu-Schäffer; Alessandro De Luca 001; Alexander Dietrich (ICRA, 2021)

Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases. - Thomas Hulin; Michael Panzirsch; Harsimran Singh; Andre Coelho; Ribin Balachandran; Aaron Pereira; Bernhard M. Weber; Nicolai Bechtel; Cornelia Riecke; Bernhard Brunner; Neal Y. Lii; Julian Klodmann; et al. (Frontiers Robotics AI, 2021)

Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. - Andre Coelho; Yuri S. Sarkisov; Xuwei Wu; Hrishik Mishra; Harsimran Singh; Alexander Dietrich; Antonio Franchi; Konstantin Kondak; Christian Ott 001 (J. Intell. Robotic Syst., 2021)

An Ecosystem for Heterogeneous Robotic Assistants in Caregiving: Core Functionalities and Use Cases. - Jörn Vogel; Daniel Leidner; Annette Hagengruber; Michael Panzirsch; Berthold Bäuml; Maximilian Denninger; Ulrich Hillenbrand; Lioba Suchenwirth; Peter Schmaus; Marco Sewtz; Adrian Simon Bauer; Thomas Hulin; et al. (IEEE Robotics Autom. Mag., 2021)

A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot. - Xuwei Wu; Christian Ott 001; Alexander Dietrich (ACC, 2022)

Open Source Tendon-driven Continuum Mechanism: A Platform for Research in Soft Robotics. - Bastian Deutschmann; Jens Reinecke; Alexander Dietrich (RoboSoft, 2022)

SimBu: bias-aware simulation of bulk RNA-seq data with variable cell-type composition. - Alexander Dietrich; Gregor Sturm; Lorenzo Merotto; Federico Marini 002; Francesca Finotello; Markus List (Bioinform., 2022)

Model Predictive Control for Flexible Joint Robots. - Maged Iskandar; Christiaan van Ommeren; Xuwei Wu; Alin Albu-Schäffer; Alexander Dietrich (CoRR, 2022)

Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators. - Marie Harder; Manuel Keppler; Xuming Meng; Christian Ott 001; Hannes Höppner; Alexander Dietrich (IEEE Robotics Autom. Lett., 2022)

A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement. - Jens Reinecke; Alexander Dietrich; Anton Leonhard Shu; Bastian Deutschmann; Marco Hutter 001 (IEEE Robotics Autom. Lett., 2022)

Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators. - Xuwei Wu; Annika Kirner; Gianluca Garofalo; Christian Ott 001; Paul Kotyczka; Alexander Dietrich (IEEE Robotics Autom. Lett., 2022)

Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots. - Marie Harder; Maged Iskandar; Jinoh Lee; Alexander Dietrich (IROS, 2023)

Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments. - Michael G. Adam; Sebastian Eger; Martin Piccolrovazzi; Maged Iskandar; Joern Vogel; Alexander Dietrich; Seongjin Bien; Jon Skerlj; Abdeldjallil Naceri; Eckehard G. Steinbach; Alin Albu-Schäffer; Sami Haddadin; et al. (ISM, 2023)

Model Predictive Control Applied to Different Time-Scale Dynamics of Flexible Joint Robots. - Maged Iskandar; Christiaan van Ommeren; Xuwei Wu; Alin Albu-Schäffer; Alexander Dietrich (IEEE Robotics Autom. Lett., 2023)

Passive Decoupled Multitask Controller for Redundant Robots. - Xuwei Wu; Christian Ott 001; Alin Albu-Schäffer; Alexander Dietrich (IEEE Trans. Control. Syst. Technol., 2023)

Hybrid Force-Impedance Control for Fast End-Effector Motions. - Maged Iskandar; Christian Ott 001; Alin Albu-Schäffer; Bruno Siciliano; Alexander Dietrich (IEEE Robotics Autom. Lett., 2023)

The Role of Ego-Involvement in Evaluating AI Creativity. - Deborah Naomi Mateja; Maria Suddenko; Monica Fallon; Alexander Dietrich; Armin Heinzl (ECIS, 2024)

Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions. - Xuwei Wu; Alin Albu-Schäffer; Alexander Dietrich (ICRA, 2024)

Extension of the Deflection-Domain Passivity Approach for Variable Stiffnesses to SO(3). - Michael Panzirsch; Harsimran Singh; Marek Sierotowicz; Alexander Dietrich (IEEE Robotics Autom. Lett., 2024)

Learning-based adaption of robotic friction models. - Philipp Scholl 003; Maged Iskandar; Sebastian Wolf 001; Jinoh Lee; Aras Bacho; Alexander Dietrich; Alin Albu-Schäffer; Gitta Kutyniok (Robotics Comput. Integr. Manuf., 2024)

Corrigendum to "Learning-based adaption of robotic friction models" [Robotics and Computer-Integrated Manufacturing Volume 89, October 2024]. - Philipp Scholl 003; Maged Iskandar; Sebastian Wolf 001; Jinoh Lee; Aras Bacho; Alexander Dietrich; Alin Albu-Schäffer; Gitta Kutyniok (Robotics Comput. Integr. Manuf., 2024)

Intrinsic sense of touch for intuitive physical human-robot interaction. - Maged Iskandar; Alin Albu-Schäffer; Alexander Dietrich (Sci. Robotics, 2024)

On passivity-based trajectory tracking for robotic manipulators combining PD+ and Slotine-Li control. - Kristin Lakatos; Dominic Lakatos; Xuwei Wu; Paul Kotyczka; Alexander Dietrich (Autom., 2024)

Enhancing the Force Transparency of the Energy-Reflection-Based Time-Domain Passivity Approach. - Michael Panzirsch; Harsimran Singh; Xiao Xu 001; Alexander Dietrich; Thomas Hulin; Eckehard G. Steinbach; Alin Albu-Schäffer (IEEE Trans. Control. Syst. Technol., 2025)

Interpretable Robotic Friction Learning via Symbolic Regression. - Philipp Scholl 003; Alexander Dietrich; Sebastian Wolf 001; Jinoh Lee; Alin Albu-Schäffer; Gitta Kutyniok; Maged Iskandar (CoRR, 2025)

Variable Stiffness Actuation via 3D-Printed Nonlinear Torsional Springs. - Hannes Höppner; Annika Kirner; Joshua Göttlich; Linnéa Jakob; Alexander Dietrich; Christian Ott 001 (IEEE Robotics Autom. Lett., 2025)