Thomas Wimböck
Fields of Interest:
- Control Algorithms for Robotic Hands
- Coordinated Hand-Arm Control
- Two-Handed Manipulation
- Variable Stiffness Control
Publications:- T. Wimböck, D. Nenchev, A. Albu-Schäffer and G. Hirzinger: Experimental Study on Dynamic Reactionless Motions with DLR’s
Humanoid Robot Justin, IROS 2009, St. Louis/USA, pp. 5481-5486.
- A. Albu-Schäffer, O. Eiberger, M. Fuchs, M. Grebenstein, S. Haddadin, Ch. Ott, A. Stemmer, T. Wimböck, S. Wolf
and G. Hirzinger: Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance, International Symposium on Robotics Research (ISRR2009), Lucerne/Switzerland, 2009
- M. Görner, T. Wimböck, G. Hirzinger: The DLR Crawler: evaluation of gaits and control of an actively compliant six-legged walking robot, Industrial Robot: An International Journal, Vol. 36, No. 4., pp. 344-351, 2009.
- T. Wimböck: Die DLR Hand II - mechatronisches Konzept und Beispielanwendungen, Seminarbericht 93 Handhabungstechnik, Herbert Utz Verlag Wissenschaft, 2009
- M. Fuchs, Ch. Borst, P. Robuffo-Giordano, A. Baumann, E. Kraemer, J. Langwald, R. Gruber, N. Seitz, G. Plank, K. Kunze, R. Burger, F. Schmidt, T. Wimböck, and G. Hirzinger: Rollin' Justin - Design considerations and realization of a mobile platform for a humanoid upper body, IEEE International Conference on Robotics and Automation, 2009, Kobe/Japan.
- T. Wimböck, Ch. Ott, A. Albu-Schäffer, A. Kugi, and G. Hirzinger: Impedance Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling, IEEE/RSJ International Conference on Intelligent Robots and Systems 2008, Nice/France.
- M. Görner, T. Wimböck, A. Baumann, M. Fuchs, T. Bahls, M. Grebenstein, Ch. Borst, J. Butterfass, G. Hirzinger, The DLR-Crawler: A Testbed for Actively Compliant Hexapod Walking Based on the Fingers of DLR-Hand II, IEEE/RSJ International Conference on Intelligent Robots and Systems 2008, Nice/France, pp. .
- T. Wimböck, Ch. Ott, and G. Hirzinger, Analysis and Experimental Evaluation of the Intrinsically Passive Controller (IPC) for Multifingered Hands, IEEE International Conference on Robotics and Automation, 2008, Pasadena/USA.
- A. Albu-Schäffer, O. Eiberger, M. Grebenstein, S. Haddadin, Ch. Ott, T. Wimböck, S. Wolf, and G. Hirzinger, Soft Robotics: From torque feedback controlled light-weight robots to intrinsically compliant systems, Robotics and Automation Magazine: Special Issue on Adaptable Compliance / Variable Stiffness for Robotic Applications, Vol. 15, No. 3, 2008, pp. 20-30.
- Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, and Gerd Hirzinger, The DLR Lightweight Robot - Lightweight Design and "Soft Robotics" Control Concepts for Robots in Human Environments, Industrial Robot Journal, Vol. 34, No. 5, 2007
- T. Wimböck, Ch. Ott, and G. Hirzinger, Impedance Behaviors for Two-handed Manipulation: Design and Experiments, IEEE International Conference on Robotics and Automation, 2007, Roma/Italy.
- G. Palli, C. Melchiorri, T. Wimböck, M. Grebenstein, and G. Hirzinger, Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints, IEEE International Conference on Robotics and Automation, 2007, Roma/Italy.
- 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, Genova/Italy, 2006, pp. 276-283.
- T. Wimböck, Ch. Ott, and G. Hirzinger, Passivity-Based Object-Level Impedance Control for a Multifingered Hand, IEEE/RSJ International Conference on Intelligent Robots and Systems 2006, Beijing/China.
Videos (only for personal use):
- Rollin' Justin - Mobile Platform with Variable Base, Ch. Borst, T. Wimböck, F. Schmidt, M. Fuchs, B. Brunner, F. Zacharias, P. Robuffo Giordano, R. Konietschke, W. Sepp, S. Fuchs, Ch. Rink, A. Albu-Schäffer, and G. Hirzinger. accepted at IEEE International Conference on Robotics and Automation, 2009, Kobe/Japan.
- Multimodal telepresent control of DLR's Rollin' Justin, Ph. Kremer, T. Wimböck, J. Artigas, S. Schätzle, K. Jöhl, F. Schmidt, C. Preusche, and G. Hirzinger. accepted at IEEE International Conference on Robotics and Automation, 2009, Kobe/Japan.
- A Humanoid Upper-Body System for Two-Handed Manipulation, Ch. Borst, Ch. Ott, T. Wimböck, B. Brunner, F. Zacharias, B. Bäuml, and G. Hirzinger, IEEE International Conference on Robotics and Automation, 2007, Roma/Italy.
- Passivity-Based Object-Level Impedance Control for a Multifingered Hand (2006): 1) Object motion, 2) Interaction