Alin Albu-Schäffer

According to our database1, Alin Albu-Schäffer authored at least 216 papers between 1998 and 2019.

Collaborative distances:
  • Dijkstra number2 of four.
  • Erdős number3 of four.

Timeline

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Bibliography

2019
Model-Free Friction Observers for Flexible Joint Robots With Torque Measurements.
IEEE Trans. Robotics, 2019

Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation.
Robotics and Autonomous Systems, 2019

Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning.
IEEE Robotics and Automation Letters, 2019

Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots.
IEEE Robotics and Automation Letters, 2019

One-Dimensional Solution Families of Nonlinear Systems Characterized by Scalar Functions on Riemannian Manifolds.
CoRR, 2019

Design of a robotic instrument for minimally invasive waterjet surgery.
Proceedings of the International Symposium on Medical Robotics, 2019

Exact Modal Characterization of the Non Conservative Non Linear Radial Mass Spring System.
Proceedings of the International Conference on Robotics and Automation, 2019

Visual Repetition Sampling for Robot Manipulation Planning.
Proceedings of the International Conference on Robotics and Automation, 2019

A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots.
Proceedings of the International Conference on Robotics and Automation, 2019

Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification.
IEEE Trans. Robotics, 2018

Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots.
IEEE Trans. Robotics, 2018

Exploiting Elastic Energy Storage for "Blind" Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling.
IEEE Trans. Robotics, 2018

Robust Adaptive Tracking Control Based on State Feedback Controller With Integrator Terms for Elastic Joint Robots With Uncertain Parameters.
IEEE Trans. Contr. Sys. Techn., 2018

Fusing Joint Measurements and Visual Features for In-Hand Object Pose Estimation.
IEEE Robotics and Automation Letters, 2018

Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion.
IEEE Robotics and Automation Letters, 2018

The Repetition Roadmap for Repetitive Constrained Motion Planning.
IEEE Robotics and Automation Letters, 2018

Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot.
IEEE Robotics and Automation Letters, 2018

Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design.
IEEE Robotics and Automation Letters, 2018

Passivity Analysis and Control of Humanoid Robots on Movable Ground.
IEEE Robotics and Automation Letters, 2018

An Overview on Principles for Energy Efficient Robot Locomotion.
Front. Robotics and AI, 2018

Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission.
Front. Robotics and AI, 2018

A dataset of continuous affect annotations and physiological signals for emotion analysis.
CoRR, 2018

Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Soft Robots.
CoRR, 2018

Progress and prospects of the human-robot collaboration.
Auton. Robots, 2018

Data-Driven Discrete Planning for Targeted Hopping of Compliantly Actuated Robotic Legs.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Inferring Semantic State Transitions During Telerobotic Manipulation.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Workspace Fixation for Free-Floating Space Robot Operations.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

DCM-Based Gait Generation for Walking on Moving Support Surfaces.
Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots.
Proceedings of the 2018 European Control Conference, 2018

2017
Robot Collisions: A Survey on Detection, Isolation, and Identification.
IEEE Trans. Robotics, 2017

Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics.
IEEE Trans. Biomed. Engineering, 2017

Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency.
IEEE Robotics and Automation Letters, 2017

Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots With Elastic Elements.
IEEE Robotics and Automation Letters, 2017

Passive Hierarchical Impedance Control Via Energy Tanks.
IEEE Robotics and Automation Letters, 2017

Decoupling and tracking control for elastic joint robots with coupled joint structure.
Advanced Robotics, 2017

Repetition sampling for efficiently planning similar constrained manipulation tasks.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Haptic intention augmentation for cooperative teleoperation.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Momentum dumping for space robots.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

2016
Actuators for Soft Robotics.
Proceedings of the Springer Handbook of Robotics, 2016

Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back.
IEEE Trans. Robotics, 2016

Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots.
IEEE Robotics and Automation Letters, 2016

Modal Matching: An Approach to Natural Compliant Jumping Control.
IEEE Robotics and Automation Letters, 2016

Neuromodulation and Synaptic Plasticity for the Control of Fast Periodic Movement: Energy Efficiency in Coupled Compliant Joints via PCA.
Front. Neurorobot., 2016

Knowledge-enabled parameterization of whole-body control strategies for compliant service robots.
Auton. Robots, 2016

Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin.
Auton. Robots, 2016

Iterative path-accurate trajectory generation for fast sensor-based motion of robot arms.
Advanced Robotics, 2016

Visual Focus of Attention Recognition from Fixed Chair Sitting Postures Using RGB-D Data.
Proceedings of the IEEE International Symposium on Multimedia, 2016

Robotic simulation of on orbit servicing including hard impacts.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Optical-inertial tracking of an input device for real-time robot control.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

KONTUR-2: Force-feedback teleoperation from the international space station.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

The DLR C-runner: Concept, design and experiments.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Dynamic bipedal walking by controlling only the equilibrium of intrinsic elasticities.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Weight and Weightlessness Effects on Sensorimotor Performance During Manual Tracking.
Proceedings of the Haptics: Perception, Devices, Control, and Applications, 2016

A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Robotic Agents Representing, Reasoning, and Executing Wiping Tasks for Daily Household Chores.
Proceedings of the 2016 International Conference on Autonomous Agents & Multiagent Systems, 2016

2015
Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion.
IEEE Trans. Robotics, 2015

Backstepping Control of Variable Stiffness Robots.
IEEE Trans. Contr. Sys. Techn., 2015

Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots.
IEEE Robot. Automat. Mag., 2015

Variable stiffness actuators: The user's point of view.
I. J. Robotics Res., 2015

An overview of null space projections for redundant, torque-controlled robots.
I. J. Robotics Res., 2015

Prioritized multi-task compliance control of redundant manipulators.
Automatica, 2015

Classifying compliant manipulation tasks for automated planning in robotics.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Targeted jumping of compliantly actuated hoppers based on discrete planning and switching control.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Robotic agents capable of natural and safe physical interaction with human co-workers.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Passivity of virtual free-floating dynamics rendered on robotic facilities.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

The OOS-SIM: An on-ground simulation facility for on-orbit servicing robotic operations.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014
Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms.
IEEE Trans. Robotics, 2014

Passivity and Stability Boundaries for Haptic Systems With Time Delay.
IEEE Trans. Contr. Sys. Techn., 2014

Experimental Analysis on Spatial and Cartesian impedance Control for the dexterous DLR/Hit II Hand.
I. J. Robotics and Automation, 2014

Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion.
Automatisierungstechnik, 2014

Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

A model-free approach to vibration suppression for intrinsically elastic robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Object-centered hybrid reasoning for whole-body mobile manipulation.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Jumping control for compliantly actuated multilegged robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

The Hardware Abstraction Layer - Supporting control design by tackling the complexity of humanoid robot hardware.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Workspace analysis for a kinematically coupled torso of a torque controlled humanoid robot.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Design and control of compliantly actuated bipedal running robots: Concepts to exploit natural system dynamics.
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Overview of the torque-controlled humanoid robot TORO.
Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Optimal control strategies for maximizing the performance of Variable Stiffness Joints with nonlinear springs.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Neuron model interpretation of a cyclic motion control concept.
Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014

2013
Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints.
IEEE Trans. Robotics, 2013

Variable impedance actuators: A review.
Robotics and Autonomous Systems, 2013

It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning.
Proceedings of the Computer Safety, Reliability, and Security, 2013

Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time.
Proceedings of the Robotics Research, 2013

Towards a robust variable stiffness actuator.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Dynamic optimality in real-time: A learning framework for near-optimal robot motions.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

A modally adaptive control for multi-contact cyclic motions in compliantly actuated robotic systems.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Optimal control for haptic rendering: Fast energy dissipation and minimum overshoot.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

First analysis and experiments in aerial manipulation using fully actuated redundant robot arm.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

A robust sagittal plane hexapedal running model with serial elastic actuation and simple periodic feedforward control.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

On the closed form computation of the dynamic matrices and their differentiations.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Three-dimensional bipedal walking control using Divergent Component of Motion.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Task-specific evaluation of kinematic designs for instruments in minimally invasive robotic surgery.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Evaluation of human safety in the DLR Robotic Motion Simulator using a crash test dummy.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Nonlinear oscillations for cyclic movements in variable impedance actuated robotic arms.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Modal limit cycle control for variable stiffness actuated robots.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Towards robot guided waterjet surgery.
Proceedings of the 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, 2013

Orbital stabilization of mechanical systems through semidefinite Lyapunov functions.
Proceedings of the American Control Conference, 2013

2012
Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy.
IEEE Trans. Robotics, 2012

Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom.
IEEE Robot. Automat. Mag., 2012

Comparison of object-level grasp controllers for dynamic dexterous manipulation.
I. J. Robotics Res., 2012

On making robots understand safety: Embedding injury knowledge into control.
I. J. Robotics Res., 2012

Dynamic Trajectory Generation for Serial Elastic Actuated Robots.
Proceedings of the 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, 2012

Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems.
Proceedings of the 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, 2012


Adaptive friction compensation in trajectory tracking control of DLR medical robots with elastic joints.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Rigid vs. elastic actuation: Requirements & performance.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Intrinsically elastic robots: The key to human like performance.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

A truly safely moving robot has to know what injury it may cause.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Optimal torque and stiffness control in compliantly actuated robots.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Direct force reflecting teleoperation with a flexible joint robot.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Optimal control for exploiting the natural dynamics of Variable Stiffness robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

A versatile biomimetic controller for contact tooling and haptic exploration.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Walking control of fully actuated robots based on the Bipedal SLIP model.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

On continuous null space projections for torque-based, hierarchical, multi-objective manipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness.
Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

A Peer-to-Peer Trilateral Passivity Control for Delayed Collaborative Teleoperation.
Proceedings of the Haptics: Perception, Devices, Mobility, and Communication, 2012

Optimal control for maximizing potential energy in a variable stiffness joint.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

2011
Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions.
IEEE Trans. Robotics, 2011


The sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Cartesian impedance control for a variable stiffness robot arm.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Static calibration of the DLR medical robot MIRO, a flexible lightweight robot with integrated torque sensors.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Bipedal walking control based on Capture Point dynamics.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

A human-centered approach to robot gesture based communication within collaborative working processes.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Impedance control of a non-linearly coupled tendon driven thumb.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

State feedback damping control for a multi DOF variable stiffness robot arm.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011


Extensions to reactive self-collision avoidance for torque and position controlled humanoids.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Safe acting and manipulation in human environments: A key concept for robots in our society.
Proceedings of the Advanced Robotics and its Social Impacts, 2011

2010
MiroSurge - Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery.
Presence, 2010

Safety Analysis for a Human-Friendly Manipulator.
I. J. Social Robotics, 2010

DLR MiroSurge: a versatile system for research in endoscopic telesurgery.
Int. J. Comput. Assist. Radiol. Surg., 2010

DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR's Two-Handed Humanoid Justin: System Design, Integration and Control).
Automatisierungstechnik, 2010

Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken (Decoupling Control and Friction Compensation for Robot with Elastic Coupled Joints).
Automatisierungstechnik, 2010

Konzepte für den Roboterassistenten der Zukunft (Towards the Robotic Co-Worker).
Automatisierungstechnik, 2010

Aus der Forschung zum Industrieprodukt: Die Entwicklung des KUKA Leichtbauroboters (From Research to an Industrial Product: The Development of the KUKA Lightweight Robot).
Automatisierungstechnik, 2010

The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing.
Proceedings of the ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics), 7-9 June 2010, Munich, Germany, 2010

Interaction Force, Impedance and Trajectory Adaptation: By Humans, for Robots.
Proceedings of the Experimental Robotics, 2010

Real-time reactive motion generation based on variable attractor dynamics and shaped velocities.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Holistic design and analysis for the human-friendly robotic co-worker.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

New insights concerning intrinsic joint elasticity for safety.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Soft-tissue injury in robotics.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Biomimetic motor behavior for simultaneous adaptation of force, impedance and trajectory in interaction tasks.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Dynamic modelling and control of variable stiffness actuators.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Development of a biped robot with torque controlled joints.
Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010

2009
Kick it with elasticity: Safety and performance in human-robot soccer.
Robotics and Autonomous Systems, 2009

Towards the Robotic Co-Worker.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

The DLR MiroSurge - A robotic system for surgery.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

The "DLR Crash Report": Towards a standard crash-testing protocol for robot safety - Part I: Results.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

The "DLR crash report": Towards a standard crash-testing protocol for robot safety - Part II: Discussions.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

On the kinematic modeling and control of a mobile platform equipped with steering wheels and movable legs.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Rollin' Justin - Mobile platform with variable base.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008
On the Passivity-Based Impedance Controlof Flexible Joint Robots.
IEEE Trans. Robotics, 2008

Light-weight robots.
Scholarpedia, 2008

Soft robotics.
IEEE Robot. Automat. Mag., 2008

The DLR MIRO: a versatile lightweight robot for surgical applications.
Industrial Robot, 2008

Impedance control for variable stiffness mechanisms with nonlinear joint coupling.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Friction observer and compensation for control of robots with joint torque measurement.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Collision detection and reaction: A contribution to safe physical Human-Robot Interaction.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Robotic assembly of complex planar parts: An experimental evaluation.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Injury evaluation of human-robot impacts.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

The role of the robot mass and velocity in physical human-robot interaction - Part II: Constrained blunt impacts.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

2007
The DLR lightweight robot: design and control concepts for robots in human environments.
Industrial Robot, 2007

A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
I. J. Robotics Res., 2007

Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing.
Proceedings of the Robotics: Science and Systems III, 2007

Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights.
Proceedings of the Robotics Research - The 13th International Symposium, 2007

Influence of sensor quantization on the control performance of robotics actuators.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

A humanoid upper body system for two-handed manipulation.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2006
Robust Assembly of Complex Shaped Planar Parts Using Vision and Force.
Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2006

A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Robotic On-Orbit Servicing - DLR's Experience and Perspective.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

A Hands-on-robot for Accurate Placement of Pedicle Screws.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

ROKVISS - Robotics Component Verification on ISS Current Experimental Results on Parameter Identification.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

A Humanoid Two-Arm System for Dexterous Manipulation.
Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, 2006

2005
Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz (Cartesian Impedance Control of Flexible Joint Robots: A Passivity Based Approach).
Automatisierungstechnik, 2005

Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004
DLR's robotics technologies for on-orbit servicing.
Advanced Robotics, 2004

Learning from demonstration: repetitive movements for autonomous service robotics.
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004

Soft robotics: what Cartesian stiffness can obtain with passively compliant, uncoupled joints?
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004

A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003
Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots.
Proceedings of the Control Problems in Robotics, 2003

Programming by touch: the different way of human-robot interaction.
IEEE Trans. Industrial Electronics, 2003

Decoupling based Cartesian impedance control of flexible joint robots.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

2002
Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002

DLR's Torque-Controlled Light Weight Robot III - Are We Reaching the Technological Limits Now?
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001
A globally stable state feedback controller for flexible joint robots.
Advanced Robotics, 2001

A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties.
Proceedings of the Robotics Research, The Tenth International Symposium, 2001

On a New Generation of Torque Controlled Light-Weight Robots.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

Parameter Identification and Passivity Based Joint Control for a 7DOF Torque controlled Light Weight Robot.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

2000
State feedback controller for flexible joint robots: a globally stable approach implemented on DLR's light-weight robots.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000

1998
Key Issues in the Dynamic Control of Lightweight Robots for Space and Terrestrial Applications.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998


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