Alin Albu-Schäffer

Alessandro Massimo Giordano

IEEE Robotics Autom. Lett., 2020

Object-Level Impedance Control for Dexterous In-Hand Manipulation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic.

[BibT_eX]

[DOI]

Davide Calzolari

IEEE Robotics Autom. Lett., 2020

A review on nonlinear modes in conservative mechanical systems.

[BibT_eX]

[DOI]

Cosimo Della Santina

Annu. Rev. Control., 2020

MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XVI, 2020

Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots.

[BibT_eX]

[DOI]

Proceedings of the Experimental Robotics - The 17th International Symposium, 2020

EDAN: An EMG-controlled Daily Assistant to Help People With Physical Disabilities.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Joint-Level Control of the DLR Lightweight Robot SARA.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Robust, Locally Guided Peg-in-Hole using Impedance-Controlled Robots.

[BibT_eX]

[DOI]

Freek Stulp

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

A Sparse Gaussian Approach to Region-Based 6DoF Object Tracking.

[BibT_eX]

[DOI]

Proceedings of the Computer Vision - ACCV 2020 - 15th Asian Conference on Computer Vision, Kyoto, Japan, November 30, 2020

2019

Model-Free Friction Observers for Flexible Joint Robots With Torque Measurements.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2019

Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation.

[BibT_eX]

[DOI]

Robotics Auton. Syst., 2019

Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning.

[BibT_eX]

[DOI]

Ismael Rodríguez

Alessandro Massimo Giordano

IEEE Robotics Autom. Lett., 2019

Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

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

[BibT_eX]

[DOI]

Stefano Stramigioli

CoRR, 2019

Design of a robotic instrument for minimally invasive waterjet surgery.

[BibT_eX]

[DOI]

Proceedings of the International Symposium on Medical Robotics, 2019

Exact Modal Characterization of the Non Conservative Non Linear Radial Mass Spring System.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Visual Repetition Sampling for Robot Manipulation Planning.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Arne Sachtler

Michael Kaßecker

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.

[BibT_eX]

[DOI]

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

2018

Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2018

Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2018

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

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2018

Robust Adaptive Tracking Control Based on State Feedback Controller With Integrator Terms for Elastic Joint Robots With Uncertain Parameters.

[BibT_eX]

[DOI]

IEEE Trans. Control. Syst. Technol., 2018

Fusing Joint Measurements and Visual Features for In-Hand Object Pose Estimation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

The Repetition Roadmap for Repetitive Constrained Motion Planning.

[BibT_eX]

[DOI]

Peter Lehner

Máximo Alejandro Roa-Garzón

IEEE Robotics Autom. Lett., 2018

Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Passivity Analysis and Control of Humanoid Robots on Movable Ground.

[BibT_eX]

[DOI]

Bernd Henze

Ribin Balachandran

IEEE Robotics Autom. Lett., 2018

An Overview on Principles for Energy Efficient Robot Locomotion.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2018

Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2018

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

[BibT_eX]

[DOI]

Karan Sharma

Claudio Castellini

Egon L. van den Broek

Friedhelm Schwenker

CoRR, 2018

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

[BibT_eX]

[DOI]

CoRR, 2018

Progress and prospects of the human-robot collaboration.

[BibT_eX]

[DOI]

Arash Ajoudani

Andrea Maria Zanchettin

Auton. Robots, 2018

Robust H∞ control of a tendon-driven elastic continuum mechanism via a systematic description of nonlinearities.

[BibT_eX]

[DOI]

Proceedings of the 12th IFAC Symposium on Robot Control, 2018

Non-Linear Local Force Feedback Control for Haptic Interfaces ⁎.

[BibT_eX]

[DOI]

Proceedings of the 12th IFAC Symposium on Robot Control, 2018

Data-Driven Discrete Planning for Targeted Hopping of Compliantly Actuated Robotic Legs.

[BibT_eX]

[DOI]

Daniel Seidel

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Inferring Semantic State Transitions During Telerobotic Manipulation.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Workspace Fixation for Free-Floating Space Robot Operations.

[BibT_eX]

[DOI]

Davide Calzolari

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

DCM-Based Gait Generation for Walking on Moving Support Surfaces.

[BibT_eX]

[DOI]

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots.

[BibT_eX]

[DOI]

Proceedings of the 16th European Control Conference, 2018

2017

Robot Collisions: A Survey on Detection, Isolation, and Identification.

[BibT_eX]

[DOI]

Alessandro De Luca

Alin Olimpiu Albu-Schäffer

IEEE Trans. Robotics, 2017

Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics.

[BibT_eX]

[DOI]

IEEE Trans. Biomed. Eng., 2017

Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots With Elastic Elements.

[BibT_eX]

[DOI]

Werner Friedl

IEEE Robotics Autom. Lett., 2017

Passive Hierarchical Impedance Control Via Energy Tanks.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

Decoupling and tracking control for elastic joint robots with coupled joint structure.

[BibT_eX]

[DOI]

Adv. Robotics, 2017

Repetition sampling for efficiently planning similar constrained manipulation tasks.

[BibT_eX]

[DOI]

Peter Lehner

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Haptic intention augmentation for cooperative teleoperation.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Momentum dumping for space robots.

[BibT_eX]

[DOI]

Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

2016

Actuators for Soft Robotics.

[BibT_eX]

[DOI]

Antonio Bicchi

Proceedings of the Springer Handbook of Robotics, 2016

Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2016

Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots.

[BibT_eX]

[DOI]

Friedrich Lange

IEEE Robotics Autom. Lett., 2016

Modal Matching: An Approach to Natural Compliant Jumping Control.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2016

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

[BibT_eX]

[DOI]

Philipp Stratmann

Frontiers Neurorobotics, 2016

Knowledge-enabled parameterization of whole-body control strategies for compliant service robots.

[BibT_eX]

[DOI]

Auton. Robots, 2016

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

[BibT_eX]

[DOI]

Auton. Robots, 2016

Iterative path-accurate trajectory generation for fast sensor-based motion of robot arms.

[BibT_eX]

[DOI]

Friedrich Lange

Adv. Robotics, 2016

Visual Focus of Attention Recognition from Fixed Chair Sitting Postures Using RGB-D Data.

[BibT_eX]

[DOI]

Michael Wolfram

Haider Ali

Proceedings of the IEEE International Symposium on Multimedia, 2016

Robotic simulation of on orbit servicing including hard impacts.

[BibT_eX]

[DOI]

Friedrich Lange

Gerhard Grunwald

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.

[BibT_eX]

[DOI]

Florian Steidle

Andreas Tobergte

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.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

KONTUR-2: Force-feedback teleoperation from the international space station.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

The DLR C-runner: Concept, design and experiments.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Dynamic bipedal walking by controlling only the equilibrium of intrinsic elasticities.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Weight and Weightlessness Effects on Sensorimotor Performance During Manual Tracking.

[BibT_eX]

[DOI]

Proceedings of the Haptics: Perception, Devices, Control, and Applications, 2016

A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Robotic Agents Representing, Reasoning, and Executing Wiping Tasks for Daily Household Chores.

[BibT_eX]

[DOI]

Proceedings of the 2016 International Conference on Autonomous Agents & Multiagent Systems, 2016

2015

Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion.

[BibT_eX]

[DOI]

Johannes Englsberger

IEEE Trans. Robotics, 2015

Backstepping Control of Variable Stiffness Robots.

[BibT_eX]

[DOI]

Andreas Daasch

IEEE Trans. Control. Syst. Technol., 2015

Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2015

Variable stiffness actuators: The user's point of view.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2015

An overview of null space projections for redundant, torque-controlled robots.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2015

Prioritized multi-task compliance control of redundant manipulators.

[BibT_eX]

[DOI]

Autom., 2015

Classifying compliant manipulation tasks for automated planning in robotics.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Michael Beetz

Georg Bartels

Ferenc Balint-Benczedi

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Passivity of virtual free-floating dynamics rendered on robotic facilities.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2014

Passivity and Stability Boundaries for Haptic Systems With Time Delay.

[BibT_eX]

[DOI]

Thomas Hulin

IEEE Trans. Control. Syst. Technol., 2014

Experimental Analysis on Spatial and Cartesian impedance Control for the dexterous DLR/Hit II Hand.

[BibT_eX]

[DOI]

Int. J. Robotics Autom., 2014

Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion.

[BibT_eX]

[DOI]

Autom., 2014

Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Object-centered hybrid reasoning for whole-body mobile manipulation.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Jumping control for compliantly actuated multilegged robots.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Stefan Jörg

Jan Tully

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Overview of the torque-controlled humanoid robot TORO.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Mehmet Can Ozparpucu

Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Neuron model interpretation of a cyclic motion control concept.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Patrick van der Smagt

Sethu Vijayakumar

IEEE Trans. Robotics, 2013

Variable impedance actuators: A review.

[BibT_eX]

[DOI]

Robotics Auton. Syst., 2013

It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning.

[BibT_eX]

[DOI]

Proceedings of the Computer Safety, Reliability, and Security, 2013

Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2013

Towards a robust variable stiffness actuator.

[BibT_eX]

[DOI]

Sebastian Wolf

Ricardo Gonzalez Camarero

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Thomas Hulin

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Martin Görner

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.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Three-dimensional bipedal walking control using Divergent Component of Motion.

[BibT_eX]

[DOI]

Johannes Englsberger

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Bastian Deutschmann

Rainer Konietschke

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.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Nonlinear oscillations for cyclic movements in variable impedance actuated robotic arms.

[BibT_eX]

[DOI]

Alin Olimpiu Albu-Schäffer

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Modal limit cycle control for variable stiffness actuated robots.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Towards robot guided waterjet surgery.

[BibT_eX]

[DOI]

Thomas Bahls

Florian A. Fröhlich

Proceedings of the 12. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, 2013

Orbital stabilization of mechanical systems through semidefinite Lyapunov functions.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2013

2012

Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2012

Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2012

Comparison of object-level grasp controllers for dynamic dexterous manipulation.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2012

On making robots understand safety: Embedding injury knowledge into control.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2012

Dynamic Trajectory Generation for Serial Elastic Actuated Robots.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, 2012

Variable impedance actuators: Moving the robots of tomorrow.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Rigid vs. elastic actuation: Requirements & performance.

[BibT_eX]

[DOI]

Nico Mansfeld

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.

[BibT_eX]

[DOI]

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Intrinsically elastic robots: The key to human like performance.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Optimal torque and stiffness control in compliantly actuated robots.

[BibT_eX]

[DOI]

Patrick van der Smagt

Sethu Vijayakumar

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Direct force reflecting teleoperation with a flexible joint robot.

[BibT_eX]

[DOI]

Andreas Tobergte

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Optimal control for exploiting the natural dynamics of Variable Stiffness robots.

[BibT_eX]

[DOI]

Felix Huber

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

A versatile biomimetic controller for contact tooling and haptic exploration.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Walking control of fully actuated robots based on the Bipedal SLIP model.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

On continuous null space projections for torque-based, hierarchical, multi-objective manipulation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness.

[BibT_eX]

[DOI]

Arash Ajoudani

Marco Gabiccini

Nikolaos G. Tsagarakis

Antonio Bicchi

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.

[BibT_eX]

[DOI]

Proceedings of the Haptics: Perception, Devices, Mobility, and Communication, 2012

Optimal control for maximizing potential energy in a variable stiffness joint.

[BibT_eX]

[DOI]

Mehmet Can Ozparpucu

Proceedings of the 51th IEEE Conference on Decision and Control, 2012

2011

Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2011

Robot Companions for Citizens.

[BibT_eX]

[DOI]

Paolo Dario

Paul F. M. J. Verschure

Proceedings of the 2nd European Future Technologies Conference and Exhibition, 2011

The sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Cartesian impedance control for a variable stiffness robot arm.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Bipedal walking control based on Capture Point dynamics.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Thomas Wimböck

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Impedance control of a non-linearly coupled tendon driven thumb.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Sven Parusel

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.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

The DLR hand arm system.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Extensions to reactive self-collision avoidance for torque and position controlled humanoids.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling.

[BibT_eX]

[DOI]

Kai Krieger

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.

[BibT_eX]

[DOI]

Proceedings of the Advanced Robotics and its Social Impacts, 2011

2010

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

[BibT_eX]

[DOI]

Presence Teleoperators Virtual Environ., 2010

Safety Analysis for a Human-Friendly Manipulator.

[BibT_eX]

[DOI]

Int. J. Soc. Robotics, 2010

DLR MiroSurge: a versatile system for research in endoscopic telesurgery.

[BibT_eX]

[DOI]

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).

[BibT_eX]

[DOI]

Autom., 2010

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

[BibT_eX]

[DOI]

Autom., 2010

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

[BibT_eX]

[DOI]

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).

[BibT_eX]

[DOI]

Autom., 2010

The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the Experimental Robotics, 2010

Real-time reactive motion generation based on variable attractor dynamics and shaped velocities.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

New insights concerning intrinsic joint elasticity for safety.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Soft-tissue injury in robotics.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Dynamic modelling and control of variable stiffness actuators.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Development of a biped robot with torque controlled joints.

[BibT_eX]

[DOI]

Christoph Baumgärtner

Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010

2009

Kick it with elasticity: Safety and performance in human-robot soccer.

[BibT_eX]

[DOI]

Robotics Auton. Syst., 2009

Requirements for Safe Robots: Measurements, Analysis and New Insights.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2009

Towards the Robotic Co-Worker.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research - The 14th International Symposium, 2009

Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research - The 14th International Symposium, 2009

Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin.

[BibT_eX]

[DOI]

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

The DLR MiroSurge - A robotic system for surgery.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Paolo Robuffo Giordano

Matthias Fuchs

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Rollin' Justin - Mobile platform with variable base.

[BibT_eX]

[DOI]

Paolo Robuffo Giordano

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008

On the Passivity-Based Impedance Controlof Flexible Joint Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2008

Light-weight robots.

[BibT_eX]

[DOI]

Scholarpedia, 2008

Soft robotics.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2008

The DLR MIRO: a versatile lightweight robot for surgical applications.

[BibT_eX]

[DOI]

Ind. Robot, 2008

Impedance control for variable stiffness mechanisms with nonlinear joint coupling.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Robotic assembly of complex planar parts: An experimental evaluation.

[BibT_eX]

[DOI]

Paolo Robuffo Giordano

Andreas Stemmer

Klaus Arbter

Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Injury evaluation of human-robot impacts.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Ind. Robot, 2007

A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2007

Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems III, 2007

Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research - The 13th International Symposium, 2007

Influence of sensor quantization on the control performance of robotics actuators.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Andreas Stemmer

Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

A humanoid upper body system for two-handed manipulation.

[BibT_eX]

[DOI]

Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2006

Robust Assembly of Complex Shaped Planar Parts Using Vision and Force.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Robotic On-Orbit Servicing - DLR's Experience and Perspective.

[BibT_eX]

[DOI]

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

A Hands-on-robot for Accurate Placement of Pedicle Screws.

[BibT_eX]

[DOI]

Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

ROKVISS - Robotics Component Verification on ISS Current Experimental Results on Parameter Identification.

[BibT_eX]

[DOI]

Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

A Humanoid Two-Arm System for Dexterous Manipulation.

[BibT_eX]

[DOI]

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).

[BibT_eX]

[DOI]

Autom., 2005

Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems.

[BibT_eX]

[DOI]

Bernhard-Michael Steinmetz

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004

DLR's robotics technologies for on-orbit servicing.

[BibT_eX]

[DOI]

Adv. Robotics, 2004

Learning from demonstration: repetitive movements for autonomous service robotics.

[BibT_eX]

[DOI]

Holger Urbanek

Patrick van der Smagt

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?

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003

Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots.

[BibT_eX]

[DOI]

Proceedings of the Control Problems in Robotics, 2003

Programming by touch: the different way of human-robot interaction.

[BibT_eX]

[DOI]

IEEE Trans. Ind. Electron., 2003

Decoupling based Cartesian impedance control of flexible joint robots.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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?

[BibT_eX]

[DOI]

Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots.

[BibT_eX]

[DOI]

Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

2001

A globally stable state feedback controller for flexible joint robots.

[BibT_eX]

[DOI]

Adv. Robotics, 2001

A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, The Tenth International Symposium, 2001

On a New Generation of Torque Controlled Light-Weight Robots.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Jing-Xin Shi