 | 2012 |
|---|
| 81 |       | Thomas Wimböck,
Christian Ott,
Alin Albu-Schäffer,
Gerd Hirzinger:
Comparison of object-level grasp controllers for dynamic dexterous manipulation.
I. J. Robotic Res. 31(1): 3-23 (2012) |
| 2011 |
|---|
| 80 | | Sami Haddadin,
Kai Krieger,
Alin Albu-Schäffer:
Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling.
CDC-ECE 2011: 690-697 |
| 79 | | Markus Grebenstein,
Alin Albu-Schäffer,
Thomas Bahls,
Maxime Chalon,
Oliver Eiberger,
Werner Friedl,
Robin Gruber,
Sami Haddadin,
Ulrich Hagn,
Robert Haslinger,
Hannes Hoppner,
Stefan Jörg,
Mathias Nickl,
Alexander Nothhelfer,
Florian Petit,
Josef Reill,
Nikolaus Seitz,
Thomas Wimböck,
Sebastian Wolf,
Tilo Wusthoff,
Gerd Hirzinger:
The DLR hand arm system.
ICRA 2011: 3175-3182 |
| 78 | | Alexander Dietrich,
Thomas Wimböck,
Holger Täubig,
Alin Albu-Schäffer,
Gerd Hirzinger:
Extensions to reactive self-collision avoidance for torque and position controlled humanoids.
ICRA 2011: 3455-3462 |
| 77 | | Sven Parusel,
Sami Haddadin,
Alin Albu-Schäffer:
Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot.
ICRA 2011: 4298-4305 |
| 76 | | Jung-Jun Park,
Sami Haddadin,
Jae-Bok Song,
Alin Albu-Schäffer:
Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions.
ICRA 2011: 5413-5420 |
| 75 | | Florian Petit,
Alin Albu-Schäffer:
State feedback damping control for a multi DOF variable stiffness robot arm.
ICRA 2011: 5561-5567 |
| 74 | | Alexander Dietrich,
Thomas Wimböck,
Alin Albu-Schäffer,
Gerd Hirzinger:
Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint.
ICRA 2011: 6136-6142 |
| 73 | | Sami Haddadin,
Kai Krieger,
Mirko Kunze,
Alin Albu-Schäffer:
Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot.
IROS 2011: 1789-1796 |
| 72 | | Andreas Tobergte,
Patrick Helmer,
Ulrich Hagn,
Patrice Rouiller,
Sophie Thielmann,
Sébastien Grange,
Alin Albu-Schäffer,
François Conti,
Gerd Hirzinger:
The sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console.
IROS 2011: 3023-3030 |
| 71 | | Alexander Dietrich,
Thomas Wimböck,
Alin Albu-Schäffer:
Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws.
IROS 2011: 3199-3206 |
| 70 | | Tobias Ende,
Sami Haddadin,
Sven Parusel,
Tilo Wusthoff,
Marc Hassenzahl,
Alin Albu-Schäffer:
A human-centered approach to robot gesture based communication within collaborative working processes.
IROS 2011: 3367-3374 |
| 69 | | Julian Klodmann,
Rainer Konietschke,
Alin Albu-Schäffer,
Gerhard Hirzinger:
Static calibration of the DLR medical robot MIRO, a flexible lightweight robot with integrated torque sensors.
IROS 2011: 3708-3715 |
| 68 | | Florian Petit,
Alin Albu-Schäffer:
Cartesian impedance control for a variable stiffness robot arm.
IROS 2011: 4180-4186 |
| 67 | | Maxime Chalon,
Werner Friedl,
Jens Reinecke,
Thomas Wimböck,
Alin Albu-Schäffer:
Impedance control of a non-linearly coupled tendon driven thumb.
IROS 2011: 4215-4221 |
| 66 | | Johannes Englsberger,
Christian Ott,
Máximo A. Roa,
Alin Albu-Schäffer,
Gerhard Hirzinger:
Bipedal walking control based on Capture Point dynamics.
IROS 2011: 4420-4427 |
| 65 | | Chenguang Yang,
Ganesh Gowrishankar,
Sami Haddadin,
Sven Parusel,
Alin Albu-Schäffer,
Etienne Burdet:
Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions.
IEEE Transactions on Robotics 27(5): 918-930 (2011) |
| 64 | | Paolo Dario,
Paul F. M. J. Verschure,
Tony J. Prescott,
Gordon Cheng,
Giulio Sandini,
Roberto Cingolani,
Rüdiger Dillmann,
Dario Floreano,
Christophe Leroux,
Sheila MacNeil,
Pieter Roelfsema,
Xenophon Verykios,
Antonio Bicchi,
Chris Melhuish,
Alin Albu-Schäffer:
Robot Companions for Citizens.
Procedia CS 7: 47-51 (2011) |
| 2010 |
|---|
| 63 | | Christian Ott,
Christoph Baumgärtner,
Johannes Mayr,
Matthias Fuchs,
Robert Burger,
Dongheui Lee,
Oliver Eiberger,
Alin Albu-Schäffer,
Markus Grebenstein,
Gerd Hirzinger:
Development of a biped robot with torque controlled joints.
Humanoids 2010: 167-173 |
| 62 | | Oliver Eiberger,
Sami Haddadin,
Michael Weis,
Alin Albu-Schäffer,
Gerd Hirzinger:
On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint.
ICRA 2010: 1687-1694 |
| 61 | | Alin Albu-Schäffer,
Sebastian Wolf,
Oliver Eiberger,
Sami Haddadin,
Florian Petit,
Maxime Chalon:
Dynamic modelling and control of variable stiffness actuators.
ICRA 2010: 2155-2162 |
| 60 | | Ganesh Gowrishankar,
Alin Albu-Schäffer,
Haruno Mashiko,
Mitsuo Kawato,
Etienne Burdet:
Biomimetic motor behavior for simultaneous adaptation of force, impedance and trajectory in interaction tasks.
ICRA 2010: 2705-2711 |
| 59 | | Sami Haddadin,
Alin Albu-Schäffer,
Gerd Hirzinger:
Soft-tissue injury in robotics.
ICRA 2010: 3426-3433 |
| 58 | | Florian Petit,
Maxime Chalon,
Werner Friedl,
Markus Grebenstein,
Alin Albu-Schäffer,
Gerd Hirzinger:
Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation.
ICRA 2010: 4189-4196 |
| 57 | | Sami Haddadin,
Alin Albu-Schäffer,
Oliver Eiberger,
Gerd Hirzinger:
New insights concerning intrinsic joint elasticity for safety.
IROS 2010: 2181-2187 |
| 56 | | Sami Haddadin,
Holger Urbanek,
Sven Parusel,
Darius Burschka,
Jürgen Roßmann,
Alin Albu-Schäffer,
Gerd Hirzinger:
Real-time reactive motion generation based on variable attractor dynamics and shaped velocities.
IROS 2010: 3109-3116 |
| 55 | | Sami Haddadin,
Sven Parusel,
Rico Belder,
Joern Vogel,
Tim Rokahr,
Alin Albu-Schäffer,
Gerd Hirzinger:
Holistic design and analysis for the human-friendly robotic co-worker.
IROS 2010: 4735-4742 |
| 54 | | Rainer Bischoff,
Johannes Kurth,
Günter Schreiber,
Ralf Koeppe,
Alin Albu-Schäffer,
Alexander Beyer,
Oliver Eiberger,
Sami Haddadin,
Andreas Stemmer,
Gerhard Grunwald,
Gerd Hirzinger:
The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing.
ISR/ROBOTIK 2010: 1-8 |
| 53 | | Thomas Wimböck,
Christoph Borst,
Alin Albu-Schäffer,
Christian Ott,
Florian Schmidt,
Matthias Fuchs,
Werner Friedl,
Oliver Eiberger,
Andreas Baumann,
Alexander Beyer,
Gerd Hirzinger:
DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR's Two-Handed Humanoid Justin: System Design, Integration and Control).
Automatisierungstechnik 58(11): 622-629 (2010) |
| 52 | | Rainer Bischoff,
Johannes Kurth,
Günter Schreiber,
Ralf Koeppe,
Andreas Stemmer,
Alin Albu-Schäffer,
Oliver Eiberger,
Alexander Beyer,
Gerhard Grunwald,
Gerd Hirzinger:
Aus der Forschung zum Industrieprodukt: Die Entwicklung des KUKA Leichtbauroboters (From Research to an Industrial Product: The Development of the KUKA Lightweight Robot).
Automatisierungstechnik 58(12): 670-680 (2010) |
| 51 | | Sami Haddadin,
Michael Suppa,
Stefan Fuchs,
Tim Bodenmüller,
Alin Albu-Schäffer,
Gerd Hirzinger:
Konzepte für den Roboterassistenten der Zukunft (Towards the Robotic Co-Worker).
Automatisierungstechnik 58(12): 695-709 (2010) |
| 50 | | Luc Le Tien,
Alin Albu-Schäffer,
Klaus Janschek,
Gerd Hirzinger:
Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken (Decoupling Control and Friction Compensation for Robot with Elastic Coupled Joints).
Automatisierungstechnik 58(9): 499-511 (2010) |
| 49 | | Sami Haddadin,
Alin Albu-Schäffer,
Gerd Hirzinger:
Safety Analysis for a Human-Friendly Manipulator.
I. J. Social Robotics 2(3): 235-252 (2010) |
| 48 | | Ulrich Hagn,
Rainer Konietschke,
Andreas Tobergte,
Mathias Nickl,
Stefan Jörg,
Bernhard Kübler,
Georg Passig,
Martin Gröger,
Florian Fröhlich,
Ulrich Seibold,
Luc Le Tien,
Alin Albu-Schäffer,
Alexander Nothhelfer,
Franz Hacker,
Markus Grebenstein,
Gerd Hirzinger:
DLR MiroSurge: a versatile system for research in endoscopic telesurgery.
Int. J. Computer Assisted Radiology and Surgery 5(2): 183-193 (2010) |
| 47 | | Andreas Tobergte,
Georg Passig,
Bernhard Kübler,
Ulrich Seibold,
Ulrich Hagn,
Florian Fröhlich,
Rainer Konietschke,
Stefan Jörg,
Mathias Nickl,
Sophie Thielmann,
Robert Haslinger,
Martin Gröger,
Alexander Nothhelfer,
Luc Le Tien,
Robin Gruber,
Alin Albu-Schäffer,
Gerd Hirzinger:
MiroSurge - Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery.
Presence 19(5): 400-414 (2010) |
| 2009 |
|---|
| 46 | | Rainer Konietschke,
Ulrich Hagn,
Mathias Nickl,
Stefan Jörg,
Andreas Tobergte,
Georg Passig,
Ulrich Seibold,
Luc Le Tien,
Bernhard Kübler,
Martin Gröger,
Florian Fröhlich,
Christian Rink,
Alin Albu-Schäffer,
Markus Grebenstein,
Tobias Ortmaier,
Gerd Hirzinger:
The DLR MiroSurge - A robotic system for surgery.
ICRA 2009: 1589-1590 |
| 45 | | Christoph Borst,
Thomas Wimböck,
Florian Schmidt,
Matthias Fuchs,
Bernhard Brunner,
Franziska Zacharias,
Paolo Robuffo Giordano,
Rainer Konietschke,
Wolfgang Sepp,
Stefan Fuchs,
Christian Rink,
Alin Albu-Schäffer,
Gerd Hirzinger:
Rollin' Justin - Mobile platform with variable base.
ICRA 2009: 1597-1598 |
| 44 | | Sami Haddadin,
Alin Albu-Schäffer,
Mirko Frommberger,
Jürgen Rossmann,
Gerd Hirzinger:
The "DLR Crash Report": Towards a standard crash-testing protocol for robot safety - Part I: Results.
ICRA 2009: 272-279 |
| 43 | | Sami Haddadin,
Alin Albu-Schäffer,
Mirko Frommberger,
Jürgen Rossmann,
Gerd Hirzinger:
The "DLR crash report": Towards a standard crash-testing protocol for robot safety - Part II: Discussions.
ICRA 2009: 280-287 |
| 42 | | Paolo Robuffo Giordano,
Matthias Fuchs,
Alin Albu-Schäffer,
Gerd Hirzinger:
On the kinematic modeling and control of a mobile platform equipped with steering wheels and movable legs.
ICRA 2009: 4080-4087 |
| 41 | | Thomas Wimböck,
Dragomir N. Nenchev,
Alin Albu-Schäffer,
Gerd Hirzinger:
Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin.
IROS 2009: 5481-5486 |
| 40 | | Alin Albu-Schäffer,
Oliver Eiberger,
Matthias Fuchs,
Markus Grebenstein,
Sami Haddadin,
Christian Ott,
Andreas Stemmer,
Thomas Wimböck,
Sebastian Wolf,
Christoph Borst,
et al.:
Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance.
ISRR 2009: 185-207 |
| 39 | | Sami Haddadin,
Michael Suppa,
Stefan Fuchs,
Tim Bodenmüller,
Alin Albu-Schäffer,
Gerd Hirzinger:
Towards the Robotic Co-Worker.
ISRR 2009: 261-282 |
| 38 | | Sami Haddadin,
Tim Laue,
Udo Frese,
Sebastian Wolf,
Alin Albu-Schäffer,
Gerd Hirzinger:
Kick it with elasticity: Safety and performance in human-robot soccer.
Robotics and Autonomous Systems 57(8): 761-775 (2009) |
| 2008 |
|---|
| 37 | | Sami Haddadin,
Alin Albu-Schäffer,
Gerd Hirzinger:
The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts.
ICRA 2008: 1331-1338 |
| 36 | | Sami Haddadin,
Alin Albu-Schäffer,
Mirko Frommberger,
Gerd Hirzinger:
The role of the robot mass and velocity in physical human-robot interaction - Part II: Constrained blunt impacts.
ICRA 2008: 1339-1345 |
| 35 | | Sami Haddadin,
Alin Albu-Schäffer,
Michael Strohmayr,
Mirko Frommberger,
Gerd Hirzinger:
Injury evaluation of human-robot impacts.
ICRA 2008: 2203-2204 |
| 34 | | Sami Haddadin,
Alin Albu-Schäffer,
Alessandro De Luca,
Gerd Hirzinger:
Collision detection and reaction: A contribution to safe physical Human-Robot Interaction.
IROS 2008: 3356-3363 |
| 33 | | Paolo Robuffo Giordano,
Andreas Stemmer,
Klaus Arbter,
Alin Albu-Schäffer:
Robotic assembly of complex planar parts: An experimental evaluation.
IROS 2008: 3775-3782 |
| 32 | | Luc Le Tien,
Alin Albu-Schäffer,
Alessandro De Luca,
Gerd Hirzinger:
Friction observer and compensation for control of robots with joint torque measurement.
IROS 2008: 3789-3795 |
| 31 | | Thomas Wimböck,
Christian Ott,
Alin Albu-Schäffer,
Andreas Kugi,
Gerd Hirzinger:
Impedance control for variable stiffness mechanisms with nonlinear joint coupling.
IROS 2008: 3796-3803 |
| 30 | | Andreas Kugi,
Christian Ott,
Alin Albu-Schäffer,
Gerd Hirzinger:
On the Passivity-Based Impedance Controlof Flexible Joint Robots.
IEEE Transactions on Robotics 24(2): 416-429 (2008) |
| 29 | | Gerd Hirzinger,
Alin Albu-Schäffer:
Light-weight robots.
Scholarpedia 3(4): 3889 (2008) |
| 2007 |
|---|
| 28 | | Christoph Borst,
Christian Ott,
Thomas Wimböck,
Bernhard Brunner,
Franziska Zacharias,
Berthold Bäuml,
Ulrich Hillenbrand,
Sami Haddadin,
Alin Albu-Schäffer,
Gerd Hirzinger:
A humanoid upper body system for two-handed manipulation.
ICRA 2007: 2766-2767 |
| 27 | | Andreas Stemmer,
Alin Albu-Schäffer,
Gerd Hirzinger:
An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts.
ICRA 2007: 317-323 |
| 26 | | Luc Le Tien,
Alin Albu-Schäffer,
Gerd Hirzinger:
MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling.
ICRA 2007: 3824-3830 |
| 25 | | Renat Iskakov,
Alin Albu-Schäffer,
Manfred Schedl,
Gerd Hirzinger,
Vitaly Lopota:
Influence of sensor quantization on the control performance of robotics actuators.
IROS 2007: 1085-1092 |
| 24 | | Sami Haddadin,
Alin Albu-Schäffer,
Gerd Hirzinger:
Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights.
ISRR 2007: 395-407 |
| 23 | | Sami Haddadin,
Alin Albu-Schäffer,
Gerd Hirzinger:
Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing.
Robotics: Science and Systems 2007 |
| 22 | | Alin Albu-Schäffer,
Christian Ott,
Gerd Hirzinger:
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
I. J. Robotic Res. 26(1): 23-39 (2007) |
| 2006 |
|---|
| 21 | | Christian Ott,
Oliver Eiberger,
Werner Friedl,
Berthold Bäuml,
Ulrich Hillenbrand,
Christoph Borst,
Alin Albu-Schäffer,
Bernhard Brunner,
Heiko Hirschmüller,
Simon Kielhöfer,
Rainer Konietschke,
Michael Suppa,
Thomas Wimböck,
Franziska Zacharias,
Gerhard Hirzinger:
A Humanoid Two-Arm System for Dexterous Manipulation.
Humanoids 2006: 276-283 |
| 20 |  | Alin Albu-Schäffer,
Wieland Bertleff,
B. Rebele,
B. Schäfer,
Klaus Landzettel,
Gerd Hirzinger:
ROKVISS - Robotics Component Verification on ISS Current Experimental Results on Parameter Identification.
ICRA 2006: 3879-3885 |
| 19 | | Tobias Ortmaier,
Holger Weiss,
Ulrich Hagn,
Markus Grebenstein,
Matthias Nickel,
Alin Albu-Schäffer,
Christian Ott,
Stefan Jörg,
Rainer Konietschke,
Luc Le Tien,
Gerd Hirzinger:
A Hands-on-robot for Accurate Placement of Pedicle Screws.
ICRA 2006: 4179-4186 |
| 18 | | Alessandro De Luca,
Alin Albu-Schäffer,
Sami Haddadin,
Gerd Hirzinger:
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm.
IROS 2006: 1623-1630 |
| 17 | | Christian Ott,
Alin Albu-Schäffer,
Gerd Hirzinger:
A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure.
IROS 2006: 4502-4508 |
| 16 | | Klaus Landzettel,
Carsten Preusche,
Alin Albu-Schäffer,
Detlef Reintsema,
B. Rebele,
Gerd Hirzinger:
Robotic On-Orbit Servicing - DLR's Experience and Perspective.
IROS 2006: 4587-4594 |
| 2005 |
|---|
| 15 | | Alin Albu-Schäffer,
Christian Ott,
Gerd Hirzinger:
Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems.
ICRA 2005: 1387-1393 |
| 14 | | Alin Albu-Schäffer,
Christian Ott,
Gerd Hirzinger:
A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
ISRR 2005: 5-21 |
| 13 | | Christian Ott,
Alin Albu-Schäffer,
Andreas Kugi,
Stefano Stramigioli,
Gerd Hirzinger:
Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz (Cartesian Impedance Control of Flexible Joint Robots: A Passivity Based Approach).
Automatisierungstechnik 53(8): 378-388 (2005) |
| 2004 |
|---|
| 12 | | Christian Ott,
Alin Albu-Schäffer,
Andreas Kugi,
Stefano Stramigioli,
Gerd Hirzinger:
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation.
ICRA 2004: 2659-2665 |
| 11 | | Alin Albu-Schäffer,
Christian Ott,
Gerd Hirzinger:
A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments.
ICRA 2004: 2666-2672 |
| 10 | | Gerd Hirzinger,
Klaus Landzettel,
Bernhard Brunner,
Max Fischer,
Carsten Preusche,
Detlef Reintsema,
Alin Albu-Schäffer,
Günter Schreiber,
Bernhard-Michael Steinmetz:
DLR's robotics technologies for on-orbit servicing.
Advanced Robotics 18(2): 139-174 (2004) |
| 2003 |
|---|
| 9 | | Christian Ott,
Alin Albu-Schäffer,
Andreas Kugi,
Gerd Hirzinger:
Decoupling based Cartesian impedance control of flexible joint robots.
ICRA 2003: 3101-3107 |
| 8 | | Alin Albu-Schäffer,
Christian Ott,
Udo Frese,
Gerd Hirzinger:
Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms.
ICRA 2003: 3704-3709 |
| 2002 |
|---|
| 7 | | Gerd Hirzinger,
Norbert Sporer,
Alin Albu-Schäffer,
Matthias Hähnle,
R. Krenn,
A. Pascucci,
Markus Schedl:
DLR's Torque-Controlled Light Weight Robot III - Are We Reaching the Technological Limits Now?
ICRA 2002: 1710-1716 |
| 6 | | Alin Albu-Schäffer,
Gerd Hirzinger:
Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots.
ICRA 2002: 657-663 |
| 2001 |
|---|
| 5 | | Alin Albu-Schäffer,
Gerd Hirzinger:
Parameter Identification and Passivity Based Joint Control for a 7DOF Torque controlled Light Weight Robot.
ICRA 2001: 2852-2858 |
| 4 | | Gerd Hirzinger,
Alin Albu-Schäffer,
Matthias Hähnle,
Ingo Schäfer,
Norbert Sporer:
On a New Generation of Torque Controlled Light-Weight Robots.
ICRA 2001: 3356-3363 |
| 3 | | Ralf Koeppe,
Alin Albu-Schäffer,
Carsten Preusche,
Günter Schreiber,
Gerd Hirzinger:
A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties.
ISRR 2001: 207-218 |
| 2 | | Alin Albu-Schäffer,
Gerd Hirzinger:
A globally stable state feedback controller for flexible joint robots.
Advanced Robotics 15(8): 799-814 (2001) |
| 1998 |
|---|
| 1 | | Jing-Xin Shi,
Alin Albu-Schäffer,
Gerd Hirzinger:
Key Issues in the Dynamic Control of Lightweight Robots for Space and Terrestrial Applications.
ICRA 1998: 490-497 |
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