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Department of Robotic Systems

 

Publication List

 

Journal papers and book chapters:

S. Haddadin, A. Albu-Schäffer, F. Haddadin, J. Rossmann, G. Hirzinger, Experimental Safety Study on Soft-tissue Injury in Robotics. Part I: Theory, Materials, Methods and Simulation Experiments, IEEE Robotics & Automation Magazine, accepted for publication, 2011

 

S. Haddadin, A. Albu-Schäffer, F. Haddadin, J. Rossmann, G. Hirzinger, Experimental Safety Study on Soft-tissue Injury in Robotics. Part II: Experiments with soft materials, IEEE Robotics & Automation Magazine, accepted for publication, 2011

 

R. Bischoff, J. Kurth, G. Schreiber, R. Köppe, A. Stemmer, A. Albu-Schäffer, O. Eiberger, A. Beyer, G. Grunwald, G. Hirzinger: aus der Forschung zum Industrieprodukt: Die Entwicklung des KUKA Leichtbauroboters, at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, No.12 ,pp. 670-680, 2010

 

S. Haddadin, S. Fuchs, T. Bodenmüller,   A. Albu-Schäffer, G. Hirzinger: Konzepte für den Roboterassistenten der Zukunft, at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag,  No.12, pp. 695-708, 2010

 

T. Wimböck, Ch. Borst, A. Albu-Schäffer, Ch. Ott, F. Schmidt, M. Fuchs, W. Friedl, O. Eiberger, A. Baumann, A. Beyer, G. Hirzinger. DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung, at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, 2010

 

S. Haddadin, A. Albu-Schäffer, G. Hirzinger: Safe Physical Human-Robot Interaction: Measurements, Analysis & New Insights, Robotics Research: The 13th International

Symposium ISRR, Eds. Makoto Kaneko and Yoshihiko Nakamura, pp. 395-408, 2010, Springer-Verlag, Heidelberg

 

L. Le-Tien, A. Albu-Schäffer, K. Janschek, G. Hirzinger: Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken, at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, No.9, pp. 499-511, DOI 10.1524/auto.2010.0866, 2010

 

S. Haddadin, A. Albu-Schäffer, and G. Hirzinger: Safety Analysis for a Human-Friendly Manipulator, International Journal of Social Robotics: Special Issue on Towards Safety in Human Robot Interaction, 2010.

S. Haddadin, A: Albu-Schäffer and G: Hirzinger: Requirements for Safe Robots: Measurements, Analysis & New Insights, International Journal on Robotics Research (IJRR2007), Invited paper: Special issue of ISRR2007, Vol.28, No.11-12, 2009, pp.1507-1527

S. Haddadin, T. Laue, U. Frese, S. Wolf, A. Albu-Schäffer, G. Hirzinger: Kick it like a Safe Robot: Requirements for 2050, Autonomous Systems: Special Issue on Humanoid Soccer Robots 2009 vol. 57, issue 8, pp. 761-775.

 A. Albu-Schäffer, Alin; O. Eiberger, M. Grebenstein, S. Haddadin; Ch. Ott, T. Wimbock, S. Wolf, G. Hirzinger: Soft robotics: From Torque Feedback Controlled Lightweight Robots to Intrinsically Compliant Systems, IEEE Robotics & Automation Magazine, IEEE Volume 15, Issue 3, September 2008 Page(s):20 - 30

 U. Hagn, M. Nickl, S. Jörg, G. Passig, T. Bahls, A. Nothhelfer, F. Hacker, L. Le-Tien, A. Albu-Schäffer, R. Konietschke, M. Grebenstein, R. Warpup, R. Haslinger, M. Frommberger, G. Hirzinger: “The DLR MIRO: a versatile lightweight robot for surgical applications”, Industrial Robot: An International Journal; Volume: 35 Issue: 4; 2008, Outstanding Paper Award 2008

 Ch. Ott, A. Albu-Schäffer, A. Kugi, and G. Hirzinger: On the Passivity Based Impedance Control of Flexible Joint Robots, IEEE Transactions on Robotics, Vol. 24, No. 2, pages 416 – 429, 2008.

 A. Albu-Schäffer, S. Haddadin, Ch. Ott, A. Stemmer, T. Wimböck, and G. Hirzinger: The DLR Lightweight Robot – Design and Control Concepts for Robots in Human Environments. Industrial Robot: An International Journal, Vol.34 No. 5, 2007, Outstanding Paper Award 2007

 A. Albu-Schäffer, Ch. Ott and G. Hirzinger: A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. – Invited extended version of the Springer Tracts Article, Int. Journal of Robotics Research, Vol. 26, No. 1, 23-39, 2007 DLR Science Award 2007

A. Albu-Schäffer, Ch. Ott, G. Hirzinger: A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots, Robotics Research (Springer Tracts in Advanced Robotics), Springer Verlag, pages 5-21, 2007.

Ott, Ch., Albu-Schäffer, A., Kugi, A. Hirzinger, G.: Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach. pro literatur Verlag, Advanced Robotic Systems International, Chapter IX.5 in /Cutting Edge Robotics/, V. Kordic, A. Lazinica, and M. Merdan (Eds.),  pages 671-682, 2006

Ch. Ott, A. Albu-Schäffer, A. Kugi, S. Stramigioli, and G. Hirzinger: Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz ,. at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, pages 378-388, August 2005. Best Paper Award 2005.

Grunwald, G., Schreiber, G., Albu-Schäffer, A., Hirzinger, G.: Touch: The Intuitive Type of Human and Robot Interaction. Advances In Human Robot Interaction, Series: Springer Tracts in Advanced Robotics, Vol. 14, -, Springer Verlag, 2004

G. Hirzinger, K. Landzettel, B. Brunner, M. Fischer, C. Preusche, D. Reintsema, A. Albu-Schäffer, G. Schreiber, B. Steinmetz: DLR's robotics technologies for on-orbit servicing,  Journal of Advanced Robotics, Special Issue: Service robots in space, Vol. 18, No. 2, pp 139--174, 2004

A. Albu-Schäffer and G. Hirzinger: Cartesian Compliant Control Strategies for Light-Weight, flexible Joint Robots.  In "Control Problems in Robotics", Springer tracts in advanced robotics, Eds.: A. Bicchi,  H. Christensen, D. Prattichizzo. Springer Verlag Berlin Heidelberg,  pp. 135-151, 2003

G. Grunwald, G. Schreiber, A. Albu-Schäffer, and G. Hirzinger: Programming by touch: The different way of human-robot interaction. IEEE Transactions on Industrial Electronics, Vol. 50, No. 4, pp.  659- 666, 2003

A. Albu-Schäffer and G. Hirzinger: A globally stable state feedback controller for flexible joint robots. Journal of Advanced Robotics, Special Issue: Selected papers from IROS 2000, Vol.15, No.8, pp.799-814, 2001 

Conference papers:

A. Dietrich, T. Wimböck, A. Albu-Schäffer, G. Hirzinger: Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2011), Shanghai, 2011

A. Dietrich, T. Wimböck, H. Täubig, A. Albu-Schäffer, G. Hirzinger: Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2011), Shanghai, 2011

J. Park, S. Haddadin, J. Song, A. Albu-Schäffer: Designing Optimally Safe Robot Surface Properties for Minimizing the Stress Characteristics of Human-Robot Collisions, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2011), Shanghai, 2011

M. Grebenstein, A. Albu-Schäffer, T. Bahls, M. Chalone, O. Eiberger, W. Friedl, R. Gruber, U. Hagn, R. Haslinger, H. Höppner, S. Jörg, M. Nickl, A. Nothelfer, F. Petit, J. Reill, N. Seitz, T. Wimböck, S. Wolf, T. Wüsthoff, G, Hirzinger: Modular state-based behaviour control for safe human-robot interaction: A lightweight control architecture for a lightweight robot, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2011), Shanghai, 2011

S. Parusel, S. Haddadin, A. Albu-Schäffer: Modular state-based behaviour control for safe human-robot interaction: A lightweight control architecture for a lightweight, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2011), Shanghai, 2011

Etienne Burdet, Ganesh Gowrishankar, Chenguang Yang, Alin Albu-Schäffer: Interaction Force, Impedance and Trajectory Adaptation: by Humans, for Robots, Int. Symposium on Experimental Robotics, ISER 2010.

Ch. Ott, Ch. Baumgärtner, J. Mayr, M. Fuchs, R. Burger, D. Lee, O. Eiberger, A. Albu-Schäffer, M. Grebenstein, and G. Hirzinger: Development of a Biped Robot with Torque Controlled Joints, Humanoids, Atlanta, 2011

A. Albu-Schäffer, O. Eiberger, M. Grebenstein, S. Haddadin, Ch. Ott, T. Wimböck, S. Wolf, Gerd Hirzinger, Soft Robotics: From Torque Feedback Controlled Lightweight Robots to Intrinsically Compliant Systems, Invited Plenary Talk and paper at the International Conference on Control, Automation and Systems (ICCAS 2010) , Seoul, Korea, 2010

S. Haddadin, A. Albu-Schäffer, O. Eiberger, and G. Hirzinger: New Insights Concerning Intrinsic Joint Elasticity for Safety, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taipeh, Taiwan, 2010.

S. Haddadin, H. Urbanek, S. Parusel, D. Burschka, J. Roßmann, A. Albu-Schäffer, and G. Hirzinger: Realtime Reactive Motion Generation Based on Variable Attractor Dynamics and Shaped Velocities, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taiwan, 2010.

S. Haddadin, S. Parusel, J. Vogel, R. Belder, T. Rokahr, A. Albu-Schäffer, and G. Hirzinger: Holistic design and analysis for the human-friendly robotic co-worker, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taipeh, Taiwan, 2010.

R. Bischoff, J. Kurth, G. Schreiber, R. Köppe, A. Albu-Schäffer, A. Beyer, O. Eiberger, S. Haddadin, A. Stemmer, G. Grunwald, G. Hirzinger: The KUKA-DLR Lightweight Robot arm – a new reference platform for robotics research and manufacturing, International Symposium on Robotics (ISR2010), Munich, Germany, 2010.

A. Albu-Schäffer, S. Wolf, O. Eiberger, S. Haddadin, F. Petit, and M. Chalon. Dynamic modeling and control of variable stiffness actuators. IEEE Int. Conf. on Robotics and Automation (ICRA 2010), Anchorage, pp. 2155-2162, 2010.

G. Ganesh, A. Albu-Schäffer, M. Haruno, M. Kawato and E. Burdet. Biomimetic motor behavior for simultaneous adaptation of force, impedance and trajectory in interaction tasks IEEE Int. Conf. on Robotics and Automation (ICRA2010), Alaska, pp. 2705-2711, 2010. "Best Cognitive Paper Award Finalist"

F. Petit, M. Chalon, W. Friedl, M. Grebenstein, A. Albu-Schäffer and G. Hirzinger: Bidirectional Antagonistic Variable Stiffness Actuation: Analysis, Design & Implementation, IEEE Int. Conf. on Robotics and Automation (ICRA2010), Anchorage, Alaska, pp. 4189-4196, 2010.

S. Haddadin, A. Albu-Schäffer, and G. Hirzinger: Soft-tissue Injury in Robotics, IEEE Int. Conf. on Robotics and Automation (ICRA2010), Alaska, pp. 3426-3433, 2010.

O. Eiberger, S. Haddadin, M. Weis, A. Albu-Schäffer, and G. Hirzinger: On Joint Design with Intrinsic Variable Compliance: Derivation of the DLR QA-Joint, IEEE Int. Conf. on Robotics and Automation (ICRA2010), Anchorage, Alaska, pp. 1687-1694, 2010.

A. Albu-Schäffer, O. Eiberger, M. Fuchs, M. Grebenstein, S. Haddadin, Ch. Ott, A. Stemmer, T. Wimböck, S. Wolf, Ch. Borst and G. Hirzinger: Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance, International Symposium on Robotics Research (ISRR), Luzern, Switzerland, 2009

Sami Haddadin, M. Suppa, S. Fuchs, A. Albu-Schäffer, G. Hirzinger: Towards the Robotic Co-Worker, International Symposium on Robotics Research (ISRR), Luzern, Switzerland, 2009

Paolo Robuffo Giordano, Matthias Fuchs, Alin Albu-Schäffer, Gerd Hirzinger: On the Kinematic Modelling and Control of a Mobile Platform Equipped with Steering Wheels and Movable Legs IEEE Int. Conf. on Robotics and Automation (ICRA 2009), 2009.

Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Juergen Rossmann, Gerd Hirzinger: The "DLR Crash Report": Towards a Standard Crash-Testing Protocol for Robot Safety - Part I: Results IEEE Int. Conf. on Robotics and Automation (ICRA 2009), 2009, pp.272-279 Best Service Robotics Paper Award.

Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Juergen Rossmann, Gerd Hirzinger: The ``DLR Crash Report'': Towards a Standard Crash-Testing Protocol for Robot Safety - Part II: Discussions IEEE Int. Conf. on Robotics and Automation (ICRA 2009), 2009, pp.280-287 Best Service Robotics Paper Award.

Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Andreas Kugi and Gerd Hirzinger: Impedance Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2008), Nice, France, 2008, pp:3796:3803

P. Robuffo Giordano, A. Stemmer, K. Arbter and A. Albu-Schäffer: Robotic Assembly of Complex Planar Parts: An Experimental Evaluation, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2008), Nice, France, 2008, pp: 3775-3782.

Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca, and Gerd Hirzinger: Collision Detection & Reaction: A Contribution to Safe Physical Human-Robot Interaction, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2008), Nice, France, 2008, pp. 3356-3363. Best Application Paper Award.

Luc Le Tien, Alin Albu-Schäffer, Alessandro De Luca, and Gerd Hirzinger: Friction Observer and Compensation for Control of Robots with Joint Torque Measurement, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2008), Nice, France, 2008, pp. 3789-3795.

Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safety in Human-Robot Interaction, Poster presentation at Robotics: Science and Systems Conference Workshop: Robot Manipulation: Intelligence in Human Environments (RSS2008), Zurich, Switzerland, 2008.

Gerd Hirzinger and Alin Albu-Schaeffer (2008) Light-weight robots. Scholarpedia, 3(4):3889

Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca and Gerd Hirzinger: Evaluation of Collision Detection and Reaction for a Human-Friendly Robot on Biological Tissues, 2008 IARP International Workshop on Technical challenges and for dependable robots in Human environments (IARP2008), Pasadena, USA, 2008

Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part I: Unconstrained Blunt Impacts, IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, 2008.

Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger and Gerd Hirzinger: The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part II: Constrained Blunt Impacts, IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, 2008,

Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safe Physical Human-Robot Interaction: Measurements, Analysis & New Insights, International Symposium on Robotics Research (ISRR2007), Hiroshima, Japan, 2007

A. De Santis, A. Albu-Schäffer, C. Ott, B. Siciliano, G. Hirzinger, The skeleton algorithm for self-collision avoidance of a humanoid manipulator, 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Zürich, Switzerland (September 2007)

R. Iskakov, A. Albu-Schäffer, M. Schedl, I. Lopota, G. Hirzinger: Influence of sensor quantization on the control performance of robotics actuators, Int. Conf. on Intelligent Robots and Systems, IROS 2007, pp. 1085-1092.

Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger: Approaching Asimov's 1st Law: The Role of the Robot's Weight Class, Robotics: Science and Systems Conference Workshop: Robot Manipulation: Sensing and adapting the real world (RSS2007), Atlanta, USA, 2007

Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing, Robotics: Science and Systems Conference (RSS2007), Atlanta, USA, 2007

Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Dummy Crash-Tests for the Evaluation of Rigid Human-Robot Impacts, 2007 IARP International Workshop on Technical challenges and for dependable robots in Human environments (IARP2007), Rome, Italy, 2007

A. Stemmer, A. Albu-Schäffer, G. Hirzinger: An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts, Int. Conf. on Robotics and Automation (ICRA), Rome, pp. 317-323, 2007

L. Le Tien, A. Albu-Schäffer, G. Hirzinger: MIMO state feedback controller for a flexible joint robot with strong joint coupling, Int. Conf. on Robotics and Automation (ICRA), Rome, pp. 3824-3830, 2007

B. Rebele, B. Schaefer, A. Albu-Schaeffer, W. Bertleff, K. Landzettel: Robotic Joints and Contact Dynamics Experiments: Lessons Learned from ROKVISS, Proc. 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), pp.33-40, Noordwijk, Nov. 2006

Ch. Ott, O. Eiberger, W. Friedl, B. Bäuml, U. Hillenbrand, Ch. Borst, A. Albu-Schäffer, B. Brunner, H. Hirschmüller, S. Kielhöfer, R. Konietschke, M. Suppa, T. Wimböck, F. Zacharias and G. Hirzinger, A Humanoid Two-Arm System for Dexterous Manipulation, IEEE-RAS International Conference on Humanoid Robots, pp.276-283, 2006

A. Stemmer, G. Schreiber, K. Arbter and A. Albu-Schäffer: Robust Assembly of Complex Shaped Planar Parts Using Vision and Force, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, September 3-6, Heidelberg, Germany, pp. 493-500, 2006

Ch. Ott, A. Albu-Schäffer, and G. Hirzinger: A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure, Int. Conf. on Intelligent Robots and Systems, Beijing, China, pp.4502-4508, 2006

A. De Luca, A. Albu-Schäffer, S. Haddadin, G. Hirzinger: Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm, Int. Conf. on Intelligent Robots and Systems, Beijing, China, pp.1623-1630, 2006

K. Landzettel, C. Preusche, A. Albu-Schäffer, D. Reintsema, B. Rebele, G. Hirzinger: Robotic On-Orbit Servicing - DLR's Experience and Perspective, Int. Conf. on Intelligent Robots and Systems, Beijing, China, pp.4587-4594, 2006

R. Alami, A. Albu-Schaeffer, A. Bicchi, R. Bischoff, R. Chatila, A. De Luca, A. De Santis, G. Giralt, G. Hirzinger, V. Lippiello, R. Mattone, S. Sen, B. Siciliano, G. Tonietti, L. Villani: Safe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges, Worhshop on Physical Human-Robot Interaction in Anthropic Domains, at the Int. Conf. on Intelligent Robots and Systems (IROS), 2006

Albu-Schäffer, W. Bertleff, B. Rebele, B. Schäfer, K. Landzettel, and G. Hirzinger: ROKVISS – Robotics Component Verification on ISS: Current Experimental Results on Parameter Identification, Int. Conf. on Robotics and Automation (ICRA) , pp. 3879-3885, Florida, 2006

T. Ortmaier, H. Weiss, U. Hagn, M. Grebenstein, M. Nickl, A. Albu-Schäffer, C. Ott, S. Jörg, R. Konietschke, Luc Le-Tien, and G. Hirzinger: A Hands-On-Robot for Accurate Placement of Pedicle Screws, Int. Conf. on Robotics and Automation (ICRA) , pp. 4179-4186, Florida, 2006

Hirzinger G., Landzettel K., Reintsema D., Preusche C., Albu-Schäffer A., Rebele B., Turk, M.: ROKVISS - Robotics Component Verification on ISS: i-SAIRAS, 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, München, 5.-8. September 2005

Albu-Schäffer, A.; Bicchi, A.; Chatila, R.; Luca De, A.; Giralt, G.; Hirzinger, G.; Mattone, R.; Oriolo, G.; Schiavi, R.; Siciliano, B.; Tonietti, G.; Vendittelli, M.; Villani, L. (2005): Physical Human-Robot Interaction in Anthropic Domains: Safety and Dependability. In: Proceedings, 4th IARP/IEEE-RAS/EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, Nagoya University, June 16-18, 2005

Ortmaier, T.; Weiß, H.; Hagn, U.; Grebenstein, M.; Nickl, M.; Albu-Schäffer, A.; Ott, C.; Jörg, S.; Konietschke, R.; Hirzinger, G.: Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben. In: Bayerisches Kompetenznetzwerk für Mechatronik, Augsburg [Hrsg.]: Tagungsband, Augsburg 15.5. 16.6.2005, S. 673 - 699, ifm Internationales Forum für Mechatronik, Augsburg, 15./16.06.2005, ISBN 3-937002-03-0, 2005

A. Albu-Schäffer, Ch. Ott and G. Hirzinger: A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots Int. Symposium on Robotics Research 2005, Oct. 12-15, 2005, San Francisco

A. Albu-Schäffer, C. Ott and G. Hirzinger: Constructive Energy shaping based Impedance control for a class of underactuated Euler-Lagrange Systems, Int. Conf. on Robotics and Automation (ICRA), Barcelona, pp.1399-1405, 2005

Schäfer, B., Landzettel, K., Albu-Schäffer, A., Hirzinger, G.:, "ROKVISS: Orbital Testbed for Tele-Presence Experiments, Novel Robotic Components and Dynamics Models Verification", Proc. 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), Noordwijk, November, 2004

A. Albu-Schäffer, C. Ott and G. Hirzinger: Passivity Based Cartesian Impedance Control for Flexible Joint Manipulators. Symposium on Nonlinear Control Systems (NOLCOS), Stuttgart, pp. 1175-1180, Sept., 2004.

A. Albu-Schäffer, M. Fischer, G. Schreiber, F. Schoeppe and G. Hirzinger: Soft Robotics: What Cartesian Stiffness Can We Obtain With Passively Compliant, Uncoupled Joints? IEEE/RSL Int. Conf. on Intelligent Robots and Systems, Sendai, Japan, pp.3295-3301, Sept. 2004.

H. Urbanek, A. Albu-Schäffer, P.v.d.Smagt: Learning from Demonstration Repetitive Movements for Autonomous Service Robotics, EEE/RSL Int. Conf. on Intelligent Robots and Systems, Sendai, Japan, pp.3495-3500, Sept. 2004.

Ch. Ott, A. Albu-Schäffer, A. Kugi, S. Stramigioli and G. Hirzinger: Ein passivitätsbasierter Ansatz zur kartesischen Impedanzregelung von Robotern mit elastischen Gelenken, "Robotik-2004"-Conference, München, VDI-Berichte Nr. 1841, pp. 71-79, 17.-18.6. 2004,

Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli and Gerd Hirzinger: A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation, Int. Conf. on Robotics and Automation (ICRA), pp.2666-2672, 2004.

A. Albu-Schäffer, Ch. Ott, and G. Hirzinger: A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots. Part II: Full State Feedback, Impedance Design and Experiments, Int. Conf. on Robotics and Automation (ICRA), pp.2666-2672, 2004.

Schreiber, G., Albu-Schäffer, A., Fischer, M., Schoeppe, F., Hirzinger, G.: Achievable Cartesian Stiffness with Passively Compliant, Uncoupled Joints. 9th International Symposium on Advances in Robot Kinematics(ARK), Sestri Levante, Italy, June 28 - July 1, 2004, C- Galletti, J. Lenarcic, Proceedings, (2004)

A. Albu-Schäffer, Ch. Ott, U. Frese and G. Hirzinger: Cartesian Impedance Control of Redundant Robots: Recent Results with the DLR-Light-Weight-Arms, Int. Conf. on Robotics and Automation (ICRA), pp. 3704-3709, 2003.

C. Ott, A. Albu-Schäffer, A.Kugi and G. Hirzinger: Decoupling Based Cartesian Impedance Control of Flexible Joint Robots. Int. Conf. on Robotics and Automation (ICRA), pp. 3101-3107, 2003.

A. Albu-Schäffer and G. Hirzinger: Recent Progress in the Development of Ultra-Light-Weight Arms/Hands: Design and Experiments, in Tutorial "Towards Intelligent Robotic Manipulation", Int. Conf. on Intelligent Robots and Systems (IROS), 2002

C. Ott, A. Albu-Schäffer, G. Hirzinger: Comparison of Adaptive and Nonadaptive Tracking Control Laws for a Flexible Joint Manipulators, Int. Conf. on Intelligent Robots and Systems (IROS), pp.2018-2024, Lausanne, 2002

A. Albu-Schäffer and G. Hirzinger: Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots, Int. Conf. on Robotics and Automation (ICRA), pp. 657-663, 2002

G. Hirzinger, N. Sporer, A. Albu-Schäffer, M. Hähnle, R. Krenn, A. Pascucci, M. Schedl: DLR's torque-controlled light weight robot III - are we reaching the technological limits now?, Int. Conf. on Robotics and Automation (ICRA), pp. 1710-1716, 2002

A. Albu-Schäffer, G. Hirzinger: Parameter identification and passivity based joint control for a 7DOF torque controlled light weight robot, in: Proc. Int. Conf. on Robotics and Automation (ICRA), Seoul, Korea, pp. 1087-1093, 2001

G. Hirzinger, A. Albu-Schäffer, M. Hähnle, I. Schaefer, and N. Sporer: A new generation of torque controlled light-weight robots, in: Proc. Int. Conf. on Robotics and Automation (ICRA), Seoul, Korea, pp. 3356-3363, 2001

R. Koeppe, A. Albu-Schaffer, C. Preusche, G. Schreiber and G. Hirzinger: A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties, Int. Symposium on Robotics Research (ISRR), Lorne, Australia, 2001

G. Grunwald G. Schreiber A. Albu-Schäffer, G. Hirzinger: Touch: The Direct Type of Human Interaction with a Redundant Service Robot, in: Proceedings of the International Workshop on Robot and Human Communication, Sept. 18-21, Bordeaux-Paris, 2001

C. Preusche, R. Koeppe, A. Albu-Schäffer, M. Hähnle, N. Sporer, G. Hirzinger: Design and haptic control of a 6DOF force-feedback device. In: Proc. of the 2001 Workshop on Advances in Interactive Multimodal Telepresence Systems, march 29-30, 2001

A. Albu-Schäffer and G. Hirzinger: State feedback controller for flexible joint robots: A globally stable approach implemented on DLR's light-weight robots. IROS, Vol 2. , pp. 1087-1094, 2000

Koeppe, R., Smagt, Patrick van der, Albu-Schäffer, Alin, Arbter, K., Fischer, M., et al.: Neuronale Perzeption und Manipulation multisensorieller Manipulatoren und Roboterhände. DLR-Mitt, 1999-02, 1999

J. Shi, A. Albu-Schäffer, and G. Hirzinger. Key issues in dynamic control of lightweight robots for space and terrestrial applications, in: Proc. Int. Conf. on Robotics and Automation, Leuven, Belgium, pp. 490-498, 1998

G. Hirzinger, R. Koeppe, A. Baader, F. Lange, A. Albu-Schäffer, R. Staudte and G. Wei: Neural Perception and Manipulation in Robotics. Statusseminar des BMBF, Europäisches Patentamt München, 17.-19.04.96, Proc. Statusseminar des BMBF, Künstliche Intelligenz, Neuroinformatik und Intelligente Systeme, 17.-19.04.96, pp. 314-328, 1996

Ph.D. Thesis:

Regelung von Robotern mit elastischen Gelenken am Beispiel der DLR-Leichtbauarme


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