Alin Albu-Schäffer
Orcid: 0000-0001-5343-9074Affiliations:
- TU Munich, Faculty of Computer Science
- German Aerospace Center (DLR), Institute of Robotics and Mechatronics
According to our database1,
Alin Albu-Schäffer
authored at least 290 papers
between 1998 and 2024.
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Bibliography
2024
Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots.
CoRR, 2024
AI-enabled Cyber-Physical In-Orbit Factory - AI approaches based on digital twin technology for robotic small satellite production.
CoRR, 2024
2023
Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion.
IEEE Trans. Robotics, December, 2023
Frontiers Robotics AI, October, 2023
Biol. Cybern., October, 2023
A robotic system for solo surgery in flexible ureteroscopy: development and evaluation with clinical users.
Int. J. Comput. Assist. Radiol. Surg., September, 2023
IEEE Robotics Autom. Lett., July, 2023
IEEE Robotics Autom. Lett., July, 2023
IEEE Robotics Autom. Lett., April, 2023
IEEE Trans. Control. Syst. Technol., 2023
Model Predictive Control Applied to Different Time-Scale Dynamics of Flexible Joint Robots.
IEEE Robotics Autom. Lett., 2023
A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework.
IEEE Control. Syst. Lett., 2023
CoRR, 2023
CoRR, 2023
Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery.
CoRR, 2023
Proceedings of the 31st Mediterranean Conference on Control and Automatio, 2023
Proceedings of the IEEE International Symposium on Multimedia, 2023
2022
Sci. Robotics, 2022
IEEE Robotics Autom. Lett., 2022
Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow.
IEEE Robotics Autom. Lett., 2022
Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry.
IEEE Robotics Autom. Lett., 2022
Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot.
IEEE Robotics Autom. Lett., 2022
Int. J. Comput. Vis., 2022
Quasi-Orthogonal Foliations of the Configuration Space - A Redundancy Resolution Approach at Position Level.
CoRR, 2022
Unsupervised symbol emergence for supervised autonomy using multi-modal latent Dirichlet allocations.
Adv. Robotics, 2022
What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots?
Proceedings of the Robotics Research, 2022
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Kinematic Transfer Learning of Sampling Distributions for Manipulator Motion Planning.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems.
Proceedings of the 61st IEEE Conference on Decision and Control, 2022
Proceedings of the American Control Conference, 2022
Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case.
Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2022
2021
An Ecosystem for Heterogeneous Robotic Assistants in Caregiving: Core Functionalities and Use Cases.
IEEE Robotics Autom. Mag., 2021
Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions.
IEEE Robotics Autom. Lett., 2021
Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case.
IEEE Robotics Autom. Lett., 2021
Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference.
IEEE Robotics Autom. Lett., 2021
Strict Nonlinear Normal Modes of Systems Characterized by Scalar Functions on Riemannian Manifolds.
IEEE Robotics Autom. Lett., 2021
Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution.
J. Intell. Robotic Syst., 2021
Frontiers Robotics AI, 2021
Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases.
Frontiers Robotics AI, 2021
Adapting Highly-Dynamic Compliant Movements to Changing Environments: A Benchmark Comparison of Reflex- vs. CPG-Based Control Strategies.
Frontiers Neurorobotics, 2021
Exciting Efficient Oscillations in Nonlinear Mechanical Systems Through Eigenmanifold Stabilization.
IEEE Control. Syst. Lett., 2021
PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case.
IEEE Control. Syst. Lett., 2021
Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia.
IEEE Control. Syst. Lett., 2021
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling.
Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021
2020
Robotics Auton. Syst., 2020
The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration.
IEEE Robotics Autom. Lett., 2020
IEEE Robotics Autom. Lett., 2020
IEEE Robotics Autom. Lett., 2020
Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots.
IEEE Robotics Autom. Lett., 2020
Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic.
IEEE Robotics Autom. Lett., 2020
Annu. Rev. Control., 2020
MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks.
Proceedings of the Robotics: Science and Systems XVI, 2020
Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots.
Proceedings of the Experimental Robotics - The 17th International Symposium, 2020
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
Proceedings of the Computer Vision - ACCV 2020 - 15th Asian Conference on Computer Vision, Kyoto, Japan, November 30, 2020
2019
IEEE Trans. Robotics, 2019
Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation.
Robotics Auton. Syst., 2019
IEEE Robotics Autom. Lett., 2019
IEEE Robotics Autom. Lett., 2019
One-Dimensional Solution Families of Nonlinear Systems Characterized by Scalar Functions on Riemannian Manifolds.
CoRR, 2019
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
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
Combined Visual and Touch-based Sensing for the Autonomous Registration of Objects with Circular Features.
Proceedings of the 19th International Conference on Advanced Robotics, 2019
Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control.
Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019
2018
Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification.
IEEE Trans. Robotics, 2018
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. Control. Syst. Technol., 2018
IEEE Robotics Autom. Lett., 2018
Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion.
IEEE Robotics Autom. Lett., 2018
IEEE Robotics Autom. Lett., 2018
Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot.
IEEE Robotics Autom. Lett., 2018
Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design.
IEEE Robotics Autom. Lett., 2018
IEEE Robotics Autom. Lett., 2018
Frontiers Robotics AI, 2018
Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission.
Frontiers Robotics 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
Robust <i>H</i><sub>∞</sub> control of a tendon-driven elastic continuum mechanism via a systematic description of nonlinearities.
Proceedings of the 12th IFAC Symposium on Robot Control, 2018
Proceedings of the 12th IFAC Symposium on Robot Control, 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
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
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 16th European Control Conference, 2018
2017
IEEE Trans. Robotics, 2017
Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics.
IEEE Trans. Biomed. Eng., 2017
Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency.
IEEE Robotics Autom. Lett., 2017
Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots With Elastic Elements.
IEEE Robotics Autom. Lett., 2017
IEEE Robotics Autom. Lett., 2017
Decoupling and tracking control for elastic joint robots with coupled joint structure.
Adv. Robotics, 2017
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017
2016
Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back.
IEEE Trans. Robotics, 2016
IEEE Robotics Autom. Lett., 2016
IEEE Robotics Autom. Lett., 2016
Neuromodulation and Synaptic Plasticity for the Control of Fast Periodic Movement: Energy Efficiency in Coupled Compliant Joints via PCA.
Frontiers Neurorobotics, 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.
Adv. 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
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
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
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
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
IEEE Trans. Robotics, 2015
IEEE Trans. Control. Syst. Technol., 2015
Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots.
IEEE Robotics Autom. Mag., 2015
Int. J. Robotics Res., 2015
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
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
IEEE Trans. Robotics, 2014
IEEE Trans. Control. Syst. Technol., 2014
Experimental Analysis on Spatial and Cartesian impedance Control for the dexterous DLR/Hit II Hand.
Int. J. Robotics Autom., 2014
Autom., 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
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
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
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
Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014
2013
IEEE Trans. Robotics, 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
Proceedings of the Robotics Research, 2013
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
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
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
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
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
Proceedings of the 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, 2013
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 Robotics Autom. Mag., 2012
Int. J. Robotics Res., 2012
Int. J. Robotics Res., 2012
Proceedings of the 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, 2012
Proceedings of the 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, 2012
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 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
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
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
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
Proceedings of the Haptics: Perception, Devices, Mobility, and Communication, 2012
Proceedings of the 51th IEEE Conference on Decision and Control, 2012
2011
IEEE Trans. Robotics, 2011
Proceedings of the 2nd European Future Technologies Conference and Exhibition, 2011
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
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
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
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
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
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 Teleoperators Virtual Environ., 2010
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).
Autom., 2010
Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken (Decoupling Control and Friction Compensation for Robot with Elastic Coupled Joints).
Autom., 2010
Autom., 2010
Aus der Forschung zum Industrieprodukt: Die Entwicklung des KUKA Leichtbauroboters (From Research to an Industrial Product: The Development of the KUKA Lightweight Robot).
Autom., 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
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
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
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
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
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010
2009
Robotics Auton. Syst., 2009
Int. J. Robotics Res., 2009
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
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
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
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
2008
IEEE Trans. Robotics, 2008
Ind. Robot, 2008
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
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
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.
Ind. Robot, 2007
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
Int. J. Robotics Res., 2007
Proceedings of the Robotics: Science and Systems III, 2007
Proceedings of the Robotics Research - The 13th International Symposium, 2007
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
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007
2006
Proceedings of the 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 2006
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
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
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).
Autom., 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
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
Proceedings of the Control Problems in Robotics, 2003
IEEE Trans. Ind. Electron., 2003
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
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002
2001
Adv. Robotics, 2001
A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties.
Proceedings of the Robotics Research, The Tenth International Symposium, 2001
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