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ORCIDAlin Albu-Schäffer
Alin Olimpiu Albu-Schäffer
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- affiliation: TU Munich, Faculty of Computer Science
- affiliation: German Aerospace Center (DLR), Institute of Robotics and Mechatronics
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Journal Articles
- 2025
[j114]Michael Panzirsch
, Harsimran Singh, Xiao Xu, Alexander Dietrich, Thomas Hulin, Eckehard G. Steinbach, Alin Albu-Schäffer:
Enhancing the Force Transparency of the Energy-Reflection-Based Time-Domain Passivity Approach. IEEE Trans. Control. Syst. Technol. 33(1): 181-188 (2025)- 2024
- [j113]Antonin Raffin, Olivier Sigaud, Jens Kober, Alin Albu-Schäffer, João Silvério, Freek Stulp:
An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks. RLJ 1: 92-107 (2024) - [j112]Annika Schmidt, Marion Forano, Arne Sachtler, Davide Calzolari, Bernhard M. Weber, David W. Franklin, Alin Albu-Schäffer:
Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks. PLoS Comput. Biol. 20(9): 1011478 (2024) - [j111]Christopher Schlenk, Anja Hellings-Kuß, Katharina Hagmann, Nikola Budjakoski, Laura Oliva-Maza, Julian Klodmann, Sebastian Müller-Spahn, Florian Steidle, Arkadiusz Miernik, Alin Albu-Schäffer:
CoFlex TOP: A Teleoperation System for Flexible Ureteroscopy. IEEE Robotics Autom. Lett. 9(6): 4942-4949 (2024) - [j110]Maximilian Mühlbauer, Thomas Hulin, Bernhard M. Weber, Sylvain Calinon, Freek Stulp, Alin Albu-Schäffer, João Silvério:
A Probabilistic Approach to Multi-Modal Adaptive Virtual Fixtures. IEEE Robotics Autom. Lett. 9(6): 5298-5305 (2024) - [j109]Ryo Sakagami, Andreas Dömel, Peter Lehner, Sebastian Riedel, Sebastian G. Brunner, Alin Albu-Schäffer, Freek Stulp:
A Tree-Based World Model for Reducing System Complexity in Autonomous Mobile Manipulation. IEEE Robotics Autom. Lett. 9(7): 6680-6687 (2024) - [j108]Samuel Bustamante, Ismael Rodríguez, Gabriel Quere, Peter Lehner, Maged Iskandar, Daniel Leidner, Andreas Dömel, Alin Albu-Schäffer, Jörn Vogel, Freek Stulp:
Feasibility Checking and Constraint Refinement for Shared Control in Assistive Robotics. IEEE Robotics Autom. Lett. 9(9): 8019-8026 (2024) - [j107]Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok:
Learning-based adaption of robotic friction models. Robotics Comput. Integr. Manuf. 89: 102780 (2024) - [j106]Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok:
Corrigendum to "Learning-based adaption of robotic friction models" [Robotics and Computer-Integrated Manufacturing Volume 89, October 2024]. Robotics Comput. Integr. Manuf. 89: 102783 (2024) - [j105]Maged Iskandar, Alin Albu-Schäffer, Alexander Dietrich:
Intrinsic sense of touch for intuitive physical human-robot interaction. Sci. Robotics 9(93) (2024) - 2023
- [j104]Matthias Kohler, Florian Röhrbein, Alois Knoll, Alin Albu-Schäffer, Henrik Jörntell:
The Bcm rule allows a spinal cord model to learn rhythmic movements. Biol. Cybern. 117(4): 275-284 (2023) - [j103]Christopher Schlenk, Katharina Hagmann, Florian Steidle, Laura Oliva-Maza, Alexander Kolb, Anja Hellings-Kuß, Dominik Stefan Schöb, Julian Klodmann, Arkadiusz Miernik, Alin Albu-Schäffer:
A robotic system for solo surgery in flexible ureteroscopy: development and evaluation with clinical users. Int. J. Comput. Assist. Radiol. Surg. 18(9): 1559-1569 (2023) - [j102]Michael Rothammer, Andre Coelho, Hrishik Mishra, Christian Ott, Antonio Franchi, Alin Albu-Schäffer:
A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework. IEEE Control. Syst. Lett. 7: 163-168 (2023) - [j101]Ryo Sakagami, Florian Samuel Lay, Andreas Dömel, Martin J. Schuster, Alin Albu-Schäffer, Freek Stulp:
Robotic world models - conceptualization, review, and engineering best practices. Frontiers Robotics AI 10 (2023) - [j100]Maged Iskandar, Christiaan van Ommeren, Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich:
Model Predictive Control Applied to Different Time-Scale Dynamics of Flexible Joint Robots. IEEE Robotics Autom. Lett. 8(2): 672-679 (2023) - [j99]Davide Calzolari, Cosimo Della Santina, Alessandro M. Giordano, Annika Schmidt, Alin Albu-Schäffer:
Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped. IEEE Robotics Autom. Lett. 8(4): 2285-2292 (2023) - [j98]Maged Iskandar, Christian Ott, Alin Albu-Schäffer, Bruno Siciliano, Alexander Dietrich:
Hybrid Force-Impedance Control for Fast End-Effector Motions. IEEE Robotics Autom. Lett. 8(7): 3931-3938 (2023) - [j97]Javier Muñoz, Peter Lehner, Luis Moreno, Alin Albu-Schäffer, Máximo A. Roa:
CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning. IEEE Robotics Autom. Lett. 8(7): 4036-4043 (2023) - [j96]Xuwei Wu, Christian Ott, Alin Albu-Schäffer, Alexander Dietrich:
Passive Decoupled Multitask Controller for Redundant Robots. IEEE Trans. Control. Syst. Technol. 31(1): 1-16 (2023) - [j95]Alin Albu-Schäffer, Arne Sachtler:
Redundancy Resolution at Position Level. IEEE Trans. Robotics 39(6): 4240-4261 (2023) - [j94]George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion. IEEE Trans. Robotics 39(6): 4443-4463 (2023) - 2022
- [j93]Florian Samuel Lay, Adrian Simon Bauer, Alin Albu-Schäffer, Freek Stulp, Daniel Leidner:
Unsupervised symbol emergence for supervised autonomy using multi-modal latent Dirichlet allocations. Adv. Robotics 36(1-2): 71-84 (2022) - [j92]Manuel Stoiber, Martin Pfanne, Klaus H. Strobl, Rudolph Triebel, Alin Albu-Schäffer:
SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World. Int. J. Comput. Vis. 130(4): 1008-1030 (2022) - [j91]Filip Bjelonic, Arne Sachtler, Alin Albu-Schäffer, Cosimo Della Santina:
Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot. IEEE Robotics Autom. Lett. 7(2): 1689-1696 (2022) - [j90]Arne Sachtler, Alin Albu-Schäffer:
Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow. IEEE Robotics Autom. Lett. 7(2): 2337-2344 (2022) - [j89]Michael Dyck, Arne Sachtler, Julian Klodmann, Alin Albu-Schäffer:
Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry. IEEE Robotics Autom. Lett. 7(3): 7738-7746 (2022) - [j88]Christopher Schlenk, Julian Klodmann, Katharina Hagmann, Alexander Kolb, Anja Hellings-Kuß, Florian Steidle, Dominik Stephan Schoeb, Thorsten Jürgens, Arkadiusz Miernik, Alin Albu-Schäffer:
A Robotic System for Solo Surgery in Flexible Ureterorenoscopy. IEEE Robotics Autom. Lett. 7(4): 10558-10565 (2022) - [j87]Michael Panzirsch, Aaron Pereira, Harsimran Singh, Bernhard M. Weber, Edmundo Ferreira, Andrei Gherghescu, Lukas Hann, Emiel Boudewijn den Exter, Frank P. J. van der Hulst, Levin Gerdes, Leonardo Cencetti, Kjetil Wormnes, Jessica Grenouilleau, William Y. C. Chen, Ribin Balachandran, Thomas Hulin, Christian Ott, Daniel Leidner, Alin Albu-Schäffer, Neal Y. Lii, Thomas Krüger:
Exploring planet geology through force-feedback telemanipulation from orbit. Sci. Robotics 7(65) (2022) - 2021
- [j86]Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer:
Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia. IEEE Control. Syst. Lett. 5(2): 445-450 (2021) - [j85]Cosimo Della Santina, Alin Albu-Schäffer:
Exciting Efficient Oscillations in Nonlinear Mechanical Systems Through Eigenmanifold Stabilization. IEEE Control. Syst. Lett. 5(6): 1916-1921 (2021) - [j84]Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer:
PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case. IEEE Control. Syst. Lett. 5(6): 2102-2107 (2021) - [j83]Annika Schmidt, Benedikt Feldotto, Thomas Gumpert, Daniel Seidel, Alin Albu-Schäffer, Philipp Stratmann:
Adapting Highly-Dynamic Compliant Movements to Changing Environments: A Benchmark Comparison of Reflex- vs. CPG-Based Control Strategies. Frontiers Neurorobotics 15: 762431 (2021) - [j82]Thomas Hulin, Michael Panzirsch, Harsimran Singh, Andre Coelho, Ribin Balachandran, Aaron Pereira, Bernhard M. Weber, Nicolai Bechtel, Cornelia Riecke, Bernhard Brunner, Neal Y. Lii, Julian Klodmann, Anja Hellings, Katharina Hagmann, Gabriel Quere, Adrian Simon Bauer, Marek Sierotowicz, Roberto Lampariello, Jörn Vogel, Alexander Dietrich, Daniel Leidner, Christian Ott, Gerd Hirzinger, Alin Albu-Schäffer:
Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases. Frontiers Robotics AI 8: 611251 (2021) - [j81]Neal Y. Lii, Aaron Pereira, Julian Dietl, Georg Stillfried, Annika Schmidt, Hadi Beik-Mohammadi, Thomas Baker, Annika Maier, Benedikt Pleintinger, Zhaopeng Chen, Amal Elawad, Lauren Mentzer, Austin Pineault, Philipp Reisich, Alin Albu-Schäffer:
Exodex Adam - A Reconfigurable Dexterous Haptic User Interface for the Whole Hand. Frontiers Robotics AI 8 (2021) - [j80]Korbinian Nottensteiner, Arne Sachtler, Alin Albu-Schäffer:
Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution. J. Intell. Robotic Syst. 101(3): 49 (2021) - [j79]Alin Albu-Schäffer, Dominic Lakatos, Stefano Stramigioli:
Strict Nonlinear Normal Modes of Systems Characterized by Scalar Functions on Riemannian Manifolds. IEEE Robotics Autom. Lett. 6(2): 1910-1917 (2021) - [j78]Luigi Bono Bonacchi, Máximo A. Roa, Anna Sesselmann, Florian Loeffl, Alin Albu-Schäffer, Cosimo Della Santina:
Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case. IEEE Robotics Autom. Lett. 6(2): 2555-2562 (2021) - [j77]Cosimo Della Santina, Davide Calzolari, Alessandro Massimo Giordano, Alin Albu-Schäffer:
Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions. IEEE Robotics Autom. Lett. 6(2): 2783-2790 (2021) - [j76]Ribin Balachandran, Michael Panzirsch, Marco De Stefano, Harsimran Singh, Christian Ott, Alin Albu-Schäffer:
Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference. IEEE Robotics Autom. Lett. 6(2): 3513-3520 (2021) - [j75]Alessandro M. Giordano, Davide Calzolari, Marco De Stefano, Hrishik Mishra, Christian Ott, Alin Albu-Schäffer:
Compliant Floating-Base Control of Space Robots. IEEE Robotics Autom. Lett. 6(4): 7485-7492 (2021) - [j74]Jörn Vogel, Daniel Leidner, Annette Hagengruber, Michael Panzirsch, Berthold Bäuml, Maximilian Denninger, Ulrich Hillenbrand, Lioba Suchenwirth, Peter Schmaus, Marco Sewtz, Adrian Simon Bauer, Thomas Hulin, Maged Iskandar, Gabriel Quere, Alin Albu-Schäffer, Alexander Dietrich:
An Ecosystem for Heterogeneous Robotic Assistants in Caregiving: Core Functionalities and Use Cases. IEEE Robotics Autom. Mag. 28(3): 12-28 (2021) - 2020
- [j73]Alin Albu-Schäffer, Cosimo Della Santina:
A review on nonlinear modes in conservative mechanical systems. Annu. Rev. Control. 50: 49-71 (2020) - [j72]Davide Calzolari, Alessandro Massimo Giordano, Alin Albu-Schäffer:
Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic. IEEE Robotics Autom. Lett. 5(2): 1231-1238 (2020) - [j71]Moritz Maier, Manuel Keppler, Christian Ott, Alin Albu-Schäffer:
Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots. IEEE Robotics Autom. Lett. 5(2): 1445-1452 (2020) - [j70]Martin Pfanne, Maxime Chalon, Freek Stulp, Helge J. Ritter, Alin Albu-Schäffer:
Object-Level Impedance Control for Dexterous In-Hand Manipulation. IEEE Robotics Autom. Lett. 5(2): 2987-2994 (2020) - [j69]Ismael Rodríguez, Korbinian Nottensteiner, Daniel Leidner, Maximilian Durner, Freek Stulp, Alin Albu-Schäffer:
Pattern Recognition for Knowledge Transfer in Robotic Assembly Sequence Planning. IEEE Robotics Autom. Lett. 5(2): 3666-3673 (2020) - [j68]Martin J. Schuster, Marcus Gerhard Müller, Sebastian G. Brunner, Hannah Lehner, Peter Lehner, Ryo Sakagami, Andreas Dömel, Lukas Meyer, Bernhard Vodermayer, Riccardo Giubilato, Mallikarjuna Vayugundla, Josef Reill, Florian Steidle, Ingo von Bargen, Kristin Bussmann, Rico Belder, Philipp Lutz, Wolfgang Stürzl, Michal Smísek, Moritz Maier, Samantha Stoneman, Andre Fonseca Prince, Bernhard Rebele, Maximilian Durner, Emanuel Staudinger, Siwei Zhang, Robert Pöhlmann, Esther Bischoff, Christian Braun, Susanne Schröder, Enrico Dietz, Sven Frohmann, Anko Börner, Heinz-Wilhelm Hübers, Bernard Foing, Rudolph Triebel, Alin Olimpiu Albu-Schäffer, Armin Wedler:
The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration. IEEE Robotics Autom. Lett. 5(4): 5315-5322 (2020) - [j67]Alessandro M. Giordano, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
Coordination of thrusters, reaction wheels, and arm in orbital robots. Robotics Auton. Syst. 131: 103564 (2020) - 2019
- [j66]Ismael Rodríguez, Korbinian Nottensteiner, Daniel Leidner, Michael Kaßecker, Freek Stulp, Alin Albu-Schäffer:
Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning. IEEE Robotics Autom. Lett. 4(2): 1416-1423 (2019) - [j65]Alessandro Massimo Giordano, Christian Ott, Alin Albu-Schäffer:
Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots. IEEE Robotics Autom. Lett. 4(2): 2108-2115 (2019) - [j64]Daniel Leidner, Georg Bartels, Wissam Bejjani, Alin Albu-Schäffer, Michael Beetz:
Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation. Robotics Auton. Syst. 114: 199-216 (2019) - [j63]Min Jun Kim, Fabian Beck, Christian Ott, Alin Albu-Schäffer:
Model-Free Friction Observers for Flexible Joint Robots With Torque Measurements. IEEE Trans. Robotics 35(6): 1508-1515 (2019) - 2018
- [j62]Arash Ajoudani, Andrea Maria Zanchettin, Serena Ivaldi, Alin Albu-Schäffer, Kazuhiro Kosuge, Oussama Khatib:
Progress and prospects of the human-robot collaboration. Auton. Robots 42(5): 957-975 (2018) - [j61]Steffen Jaekel, Roberto Lampariello, Wolfgang Rackl, Marco De Stefano, Nassir W. Oumer, Alessandro M. Giordano, Oliver Porges, Markus Pietras, Bernhard Brunner, John Ratti, Quirin Muehlbauer, Markus Thiel, Stéphane Estable, Robin Biesbroek, Alin Albu-Schäffer:
Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission. Frontiers Robotics AI 5: 100 (2018) - [j60]Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schäffer, Patrick Clary, Monica A. Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan W. Hurst, Jörn Malzahn, Glenn Mathijssen, C. David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae-Bok Song, Nils Smit-Anseeuw, Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikolaos G. Tsagarakis:
An Overview on Principles for Energy Efficient Robot Locomotion. Frontiers Robotics AI 5: 129 (2018) - [j59]George Mesesan, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion. IEEE Robotics Autom. Lett. 3(4): 3449-3456 (2018) - [j58]Bernd Henze, Ribin Balachandran, Máximo Alejandro Roa-Garzón, Christian Ott, Alin Albu-Schäffer:
Passivity Analysis and Control of Humanoid Robots on Movable Ground. IEEE Robotics Autom. Lett. 3(4): 3457-3464 (2018) - [j57]Martin Pfanne, Maxime Chalon, Freek Stulp, Alin Albu-Schäffer:
Fusing Joint Measurements and Visual Features for In-Hand Object Pose Estimation. IEEE Robotics Autom. Lett. 3(4): 3497-3504 (2018) - [j56]Roberto Lampariello, Hrishik Mishra, Nassir W. Oumer, Phillip Schmidt, Marco De Stefano, Alin Albu-Schäffer:
Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot. IEEE Robotics Autom. Lett. 3(4): 3638-3645 (2018) - [j55]Peter Lehner, Alin Albu-Schäffer:
The Repetition Roadmap for Repetitive Constrained Motion Planning. IEEE Robotics Autom. Lett. 3(4): 3884-3891 (2018) - [j54]Dominic Lakatos, Kai Ploeger, Florian Loeffl, Daniel Seidel, Florian Schmidt, Thomas Gumpert, Freia John, Torsten Bertram, Alin Albu-Schäffer:
Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design. IEEE Robotics Autom. Lett. 3(4): 3908-3915 (2018) - [j53]Luc Le Tien, Alin Albu-Schäffer:
Robust Adaptive Tracking Control Based on State Feedback Controller With Integrator Terms for Elastic Joint Robots With Uncertain Parameters. IEEE Trans. Control. Syst. Technol. 26(6): 2259-2267 (2018) - [j52]Sami Haddadin, Kai Krieger, Alin Albu-Schäffer, Torsten Lilge:
Exploiting Elastic Energy Storage for "Blind" Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling. IEEE Trans. Robotics 34(1): 91-112 (2018) - [j51]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots. IEEE Trans. Robotics 34(2): 317-335 (2018) - [j50]Yanan Li, Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet:
Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification. IEEE Trans. Robotics 34(5): 1170-1182 (2018) - 2017
- [j49]Luc Le Tien, Alin Albu-Schäffer:
Decoupling and tracking control for elastic joint robots with coupled joint structure. Adv. Robotics 31(4): 184-203 (2017) - [j48]Philipp Stratmann, Dominic Lakatos, Mehmet Can Özparpucu, Alin Albu-Schäffer:
Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency. IEEE Robotics Autom. Lett. 2(2): 436-443 (2017) - [j47]Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Christian Ott, Alin Albu-Schäffer, Stefano Stramigioli:
Passive Hierarchical Impedance Control Via Energy Tanks. IEEE Robotics Autom. Lett. 2(2): 522-529 (2017) - [j46]Dominic Lakatos, Werner Friedl, Alin Albu-Schäffer:
Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots With Elastic Elements. IEEE Robotics Autom. Lett. 2(2): 1062-1069 (2017) - [j45]Thomas Bahls, Florian A. Fröhlich, Anja Hellings, Bastian Deutschmann, Alin Olimpiu Albu-Schäffer:
Extending the Capability of Using a Waterjet in Surgical Interventions by the Use of Robotics. IEEE Trans. Biomed. Eng. 64(2): 284-294 (2017) - [j44]Sami Haddadin, Alessandro De Luca, Alin Albu-Schäffer:
Robot Collisions: A Survey on Detection, Isolation, and Identification. IEEE Trans. Robotics 33(6): 1292-1312 (2017) - 2016
- [j43]Friedrich Lange, Alin Albu-Schäffer:
Iterative path-accurate trajectory generation for fast sensor-based motion of robot arms. Adv. Robotics 30(21): 1380-1394 (2016) - [j42]Alexander Dietrich, Kristin Bussmann, Florian Petit, Paul Kotyczka, Christian Ott, Boris Lohmann, Alin Albu-Schäffer:
Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin. Auton. Robots 40(3): 505-517 (2016) - [j41]Daniel Leidner, Alexander Dietrich, Michael Beetz, Alin Albu-Schäffer:
Knowledge-enabled parameterization of whole-body control strategies for compliant service robots. Auton. Robots 40(3): 519-536 (2016) - [j40]Philipp Stratmann, Dominic Lakatos, Alin Albu-Schäffer:
Neuromodulation and Synaptic Plasticity for the Control of Fast Periodic Movement: Energy Efficiency in Coupled Compliant Joints via PCA. Frontiers Neurorobotics 10: 2 (2016) - [j39]Friedrich Lange, Alin Albu-Schäffer:
Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots. IEEE Robotics Autom. Lett. 1(1): 82-89 (2016) - [j38]Dominic Lakatos, Alin Albu-Schäffer:
Modal Matching: An Approach to Natural Compliant Jumping Control. IEEE Robotics Autom. Lett. 1(1): 274-281 (2016) - [j37]Johannes Englsberger, Pawel Kozlowski, Christian Ott, Alin Albu-Schäffer:
Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back. IEEE Trans. Robotics 32(4): 854-867 (2016) - 2015
- [j36]Christian Ott, Alexander Dietrich, Alin Albu-Schäffer:
Prioritized multi-task compliance control of redundant manipulators. Autom. 53: 416-423 (2015) - [j35]Giorgio Grioli, Sebastian Wolf, Manolo Garabini, Manuel G. Catalano, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Werner Friedl, Markus Grebenstein, Matteo Laffranchi, Dirk Lefeber, Stefano Stramigioli, Nikos G. Tsagarakis, Michaël Van Damme, Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi:
Variable stiffness actuators: The user's point of view. Int. J. Robotics Res. 34(6): 727-743 (2015) - [j34]Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
An overview of null space projections for redundant, torque-controlled robots. Int. J. Robotics Res. 34(11): 1385-1400 (2015) - [j33]Florian Petit, Alexander Dietrich, Alin Albu-Schäffer:
Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots. IEEE Robotics Autom. Mag. 22(4): 37-51 (2015) - [j32]Florian Petit, Andreas Daasch, Alin Albu-Schäffer:
Backstepping Control of Variable Stiffness Robots. IEEE Trans. Control. Syst. Technol. 23(6): 2195-2202 (2015) - [j31]Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion. IEEE Trans. Robotics 31(2): 355-368 (2015) - 2014
- [j30]Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer:
Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion. Autom. 62(3): 175-187 (2014) - [j29]Zhaopeng Chen, Neal Y. Lii, Thomas Wimböck, Shaowei Fan, Hong Liu, Alin Albu-Schäffer:
Experimental Analysis on Spatial and Cartesian impedance Control for the dexterous DLR/Hit II Hand. Int. J. Robotics Autom. 29(1) (2014) - [j28]Thomas Hulin, Alin Albu-Schäffer, Gerd Hirzinger:
Passivity and Stability Boundaries for Haptic Systems With Time Delay. IEEE Trans. Control. Syst. Technol. 22(4): 1297-1309 (2014) - [j27]Dominic Lakatos, Florian Petit, Alin Albu-Schäffer:
Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms. IEEE Trans. Robotics 30(4): 865-879 (2014) - 2013
- [j26]Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Oliver Eiberger, Werner Friedl, Ganesh Ganesh, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Hannes Höppner, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf:
Variable impedance actuators: A review. Robotics Auton. Syst. 61(12): 1601-1614 (2013) - [j25]David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar:
Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints. IEEE Trans. Robotics 29(5): 1085-1101 (2013) - 2012
- [j24]Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger:
Comparison of object-level grasp controllers for dynamic dexterous manipulation. Int. J. Robotics Res. 31(1): 3-23 (2012) - [j23]Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer:
On making robots understand safety: Embedding injury knowledge into control. Int. J. Robotics Res. 31(13): 1578-1602 (2012) - [j22]Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger:
Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom. IEEE Robotics Autom. Mag. 19(2): 20-33 (2012) - [j21]Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger:
Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy. IEEE Trans. Robotics 28(6): 1278-1293 (2012) - 2011
- [j20]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 Trans. Robotics 27(5): 918-930 (2011) - 2010
- [j19]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). Autom. 58(9): 499-511 (2010) - [j18]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). Autom. 58(11): 622-629 (2010) - [j17]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). Autom. 58(12): 670-680 (2010) - [j16]Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger:
Konzepte für den Roboterassistenten der Zukunft (Towards the Robotic Co-Worker). Autom. 58(12): 695-709 (2010) - [j15]Ulrich Hagn, Rainer Konietschke, Andreas Tobergte, Mathias Nickl, Stefan Jörg, Bernhard Kübler, Georg Passig, Martin Gröger, Florian A. 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. Comput. Assist. Radiol. Surg. 5(2): 183-193 (2010) - [j14]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
Safety Analysis for a Human-Friendly Manipulator. Int. J. Soc. Robotics 2(3): 235-252 (2010) - [j13]Andreas Tobergte, Georg Passig, Bernhard Kübler, Ulrich Seibold, Ulrich Hagn, Florian A. 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 Teleoperators Virtual Environ. 19(5): 400-414 (2010) - 2009
- [j12]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
Requirements for Safe Robots: Measurements, Analysis and New Insights. Int. J. Robotics Res. 28(11-12): 1507-1527 (2009) - [j11]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 Auton. Syst. 57(8): 761-775 (2009) - 2008
- [j10]Ulrich Hagn, Mathias Nickl, Stefan Jörg, Georg Passig, Thomas Bahls, Alexander Nothhelfer, Franz Hacker, Luc Le Tien, Alin Albu-Schäffer, Rainer Konietschke, Markus Grebenstein, R. Warpup, Robert Haslinger, Mirko Frommberger, Gerd Hirzinger:
The DLR MIRO: a versatile lightweight robot for surgical applications. Ind. Robot 35(4): 324-336 (2008) - [j9]Alin Albu-Schäffer, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimböck, Sebastian Wolf, Gerd Hirzinger:
Soft robotics. IEEE Robotics Autom. Mag. 15(3): 20-30 (2008) - [j8]Gerd Hirzinger, Alin Albu-Schäffer:
Light-weight robots. Scholarpedia 3(4): 3889 (2008) - [j7]Andreas Kugi, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger:
On the Passivity-Based Impedance Controlof Flexible Joint Robots. IEEE Trans. Robotics 24(2): 416-429 (2008) - 2007
- [j6]Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger:
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. Int. J. Robotics Res. 26(1): 23-39 (2007) - [j5]Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Gerhard Hirzinger:
The DLR lightweight robot: design and control concepts for robots in human environments. Ind. Robot 34(5): 376-385 (2007) - 2005
- [j4]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). Autom. 53(8): 378-388 (2005) - 2004
- [j3]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. Adv. Robotics 18(2): 139-174 (2004) - 2003
- [j2]Gerhard Grunwald, Günter Schreiber, Alin Albu-Schäffer, Gerd Hirzinger:
Programming by touch: the different way of human-robot interaction. IEEE Trans. Ind. Electron. 50(4): 659-666 (2003) - 2001
- [j1]Alin Albu-Schäffer, Gerd Hirzinger:
A globally stable state feedback controller for flexible joint robots. Adv. Robotics 15(8): 799-814 (2001)
Conference and Workshop Papers
- 2024
- [c178]Alin Albu-Schäffer:
Torque Controlled or Intrinsically Compliant? DLR's Perspective on Robust and Efficient Biped and Quadruped Locomotion. CLAWAR (1) 2024: 5 - [c177]Annika Schmidt, Filip Pasic, Davide Calzolari, Arne Sachtler, Thomas Gumpert, Manuel Keppler, Alin Albu-Schäffer:
Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint. ECC 2024: 2194-2199 - [c176]Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer:
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes. ECC 2024: 2392-2398 - [c175]Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich:
Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions. ICRA 2024: 15358-15365 - [c174]Pietro Pustina, Davide Calzolari, Alin Albu-Schäffer, Alessandro De Luca, Cosimo Della Santina:
Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots. RoboSoft 2024: 779-785 - 2023
- [c173]Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjin Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard:
Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments. ISM 2023: 260-261 - [c172]Alessandro M. Giordano, Simone Stivala, Davide Calzolari, Alin Albu-Schäffer:
Energy and angular momentum control of robot running. MED 2023: 554-561 - 2022
- [c171]Annika Schmidt, Thomas Gumpert, Stefan Schreiber, Alin Albu-Schäffer:
Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case. AIM 2022: 1144-1151 - [c170]Davide Calzolari, Cosimo Della Santina, Alessandro M. Giordano, Alin Albu-Schäffer:
Single-Leg Forward Hopping via Nonlinear Modes. ACC 2022: 506-513 - [c169]Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi:
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. CDC 2022: 2437-2442 - [c168]Mathew Jose Pollayil, Cosimo Della Santina, George Mesesan, Johannes Englsberger, Daniel Seidel, Manolo Garabini, Christian Ott, Antonio Bicchi, Alin Albu-Schäffer:
Planning Natural Locomotion for Articulated Soft Quadrupeds. ICRA 2022: 6593-6599 - [c167]Peter Lehner, Máximo A. Roa, Alin Albu-Schäffer:
Kinematic Transfer Learning of Sampling Distributions for Manipulator Motion Planning. ICRA 2022: 7211-7217 - [c166]Maximilian Mühlbauer, Franz Steinmetz, Freek Stulp, Thomas Hulin, Alin Albu-Schäffer:
Multi-Phase Multi-Modal Haptic Teleoperation. IROS 2022: 7734-7741 - [c165]Alin Albu-Schäffer, Arne Sachtler:
What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots? ISRR 2022: 468-484 - 2021
- [c164]Cosimo Della Santina, Alin Albu-Schäffer:
Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization. ACC 2021: 8-13 - [c163]Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer:
PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case. ACC 2021: 4321-4326 - [c162]Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer:
Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. CDC 2021: 2448-2455 - [c161]Maged Iskandar, Oliver Eiberger, Alin Albu-Schäffer, Alessandro De Luca, Alexander Dietrich:
Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy. ICRA 2021: 3111-3117 - [c160]Anna Sesselmann, Florian Loeffl, Cosimo Della Santina, Máximo A. Roa, Alin Albu-Schäffer:
Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg. IROS 2021: 1370-1377 - 2020
- [c159]Manuel Stoiber, Martin Pfanne, Klaus H. Strobl, Rudolph Triebel, Alin Albu-Schäffer:
A Sparse Gaussian Approach to Region-Based 6DoF Object Tracking. ACCV (2) 2020: 666-682 - [c158]Korbinian Nottensteiner, Freek Stulp, Alin Albu-Schäffer:
Robust, Locally Guided Peg-in-Hole using Impedance-Controlled Robots. ICRA 2020: 5771-5777 - [c157]Ribin Balachandran, Jee-Hwan Ryu, Mikael Jorda, Christian Ott, Alin Albu-Schäffer:
Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation. ICRA 2020: 10198-10204 - [c156]Ribin Balachandran, Hrishik Mishra, Matteo Cappelli, Bernhard M. Weber, Cristian Secchi, Christian Ott, Alin Albu-Schäffer:
Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters. ICRA 2020: 11298-11304 - [c155]Jörn Vogel, Annette Hagengruber, Maged Iskandar, Gabriel Quere, Ulrike Leipscher, Samuel Bustamante, Alexander Dietrich, Hannes Höppner, Daniel Leidner, Alin Albu-Schäffer:
EDAN: An EMG-controlled Daily Assistant to Help People With Physical Disabilities. IROS 2020: 4183-4190 - [c154]Maged Iskandar, Christian Ott, Oliver Eiberger, Manuel Keppler, Alin Albu-Schäffer, Alexander Dietrich:
Joint-Level Control of the DLR Lightweight Robot SARA. IROS 2020: 8903-8910 - [c153]Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer:
Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots. ISER 2020: 566-575 - [c152]Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. Robotics: Science and Systems 2020 - 2019
- [c151]George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control. Humanoids 2019: 25-32 - [c150]Arne Sachtler, Korbinian Nottensteiner, Michael Kaßecker, Alin Albu-Schäffer:
Combined Visual and Touch-based Sensing for the Autonomous Registration of Objects with Circular Features. ICAR 2019: 426-433 - [c149]Bernd Henze, Máximo A. Roa, Alexander Werner, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees. ICRA 2019: 2510-2516 - [c148]Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer:
Exact Modal Characterization of the Non Conservative Non Linear Radial Mass Spring System. ICRA 2019: 3101-3107 - [c147]En Yen Puang, Peter Lehner, Zoltan-Csaba Marton, Maximilian Durner, Rudolph Triebel, Alin Albu-Schäffer:
Visual Repetition Sampling for Robot Manipulation Planning. ICRA 2019: 9236-9242 - [c146]Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl, Florian Schmidt, Daniel Seidel, Alin Albu-Schäffer:
A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots. ICRA 2019: 9509-9515 - [c145]Christopher Schlenk, Andrea Schwier, Michael Heiss, Thomas Bahls, Alin Albu-Schäffer:
Design of a robotic instrument for minimally invasive waterjet surgery. ISMR 2019: 1-7 - 2018
- [c144]Manuel Keppler, Dominic Lakatos, Alexander Werner, Florian Loeffl, Christian Ott, Alin Albu-Schäffer:
Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots. ECC 2018: 255-260 - [c143]Johannes Englsberger, George Mesesan, Christian Ott, Alin Albu-Schäffer:
DCM-Based Gait Generation for Walking on Moving Support Surfaces. Humanoids 2018: 1-8 - [c142]Alessandro M. Giordano, Davide Calzolari, Alin Albu-Schäffer:
Workspace Fixation for Free-Floating Space Robot Operations. ICRA 2018: 889-896 - [c141]Adrian Simon Bauer, Peter Schmaus, Alin Albu-Schäffer, Daniel Leidner:
Inferring Semantic State Transitions During Telerobotic Manipulation. IROS 2018: 1-9 - [c140]Daniel Seidel, Dominic Lakatos, Alin Albu-Schäffer:
Data-Driven Discrete Planning for Targeted Hopping of Compliantly Actuated Robotic Legs. IROS 2018: 2261-2266 - [c139]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots. IROS 2018: 5861-5868 - [c138]Anton Leonhard Shu, Bastian Deutschmann, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
Robust H∞ control of a tendon-driven elastic continuum mechanism via a systematic description of nonlinearities. SyRoCo 2018: 386-392 - [c137]Ribin Balachandran, Natalia Kozlova, Christian Ott, Alin Albu-Schäffer:
Non-Linear Local Force Feedback Control for Haptic Interfaces ⁎. SyRoCo 2018: 486-492 - 2017
- [c136]Alessandro M. Giordano, Gianluca Garofalo, Alin Albu-Schäffer:
Momentum dumping for space robots. CDC 2017: 5243-5248 - [c135]Michael Panzirsch, Ribin Balachandran, Jordi Artigas, Cornelia Riecke, Manuel Ferre, Alin Albu-Schäffer:
Haptic intention augmentation for cooperative teleoperation. ICRA 2017: 5335-5341 - [c134]Peter Lehner, Alin Albu-Schäffer:
Repetition sampling for efficiently planning similar constrained manipulation tasks. IROS 2017: 2851-2856 - 2016
- [c133]Daniel Leidner, Wissam Bejjani, Alin Albu-Schäffer, Michael Beetz:
Robotic Agents Representing, Reasoning, and Executing Wiping Tasks for Daily Household Chores. AAMAS 2016: 1006-1014 - [c132]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots. CDC 2016: 1521-1528 - [c131]Alessandro M. Giordano, Gianluca Garofalo, Marco De Stefano, Christian Ott, Alin Albu-Schäffer:
Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta. CDC 2016: 7527-7534 - [c130]Bernhard M. Weber, Simon Schätzle, Cornelia Riecke, Bernhard Brunner, Sergey Tarassenko, Jordi Artigas, Ribin Balachandran, Alin Albu-Schäffer:
Weight and Weightlessness Effects on Sensorimotor Performance During Manual Tracking. EuroHaptics (1) 2016: 111-121 - [c129]Florian Loeffl, Alexander Werner, Dominic Lakatos, Jens Reinecke, Sebastian Wolf, Robert Burger, Thomas Gumpert, Florian Schmidt, Christian Ott, Markus Grebenstein, Alin Albu-Schäffer:
The DLR C-runner: Concept, design and experiments. Humanoids 2016: 758-765 - [c128]Dominic Lakatos, Alin Albu-Schäffer, Christian Rode, Florian Loeffl:
Dynamic bipedal walking by controlling only the equilibrium of intrinsic elasticities. Humanoids 2016: 1282-1289 - [c127]Florian Steidle, Andreas Tobergte, Alin Albu-Schäffer:
Optical-inertial tracking of an input device for real-time robot control. ICRA 2016: 742-749 - [c126]Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer:
A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots. ICRA 2016: 1079-1086 - [c125]Jordi Artigas, Ribin Balachandran, Cornelia Riecke, Martin Stelzer, Bernhard M. Weber, Jee-Hwan Ryu, Alin Albu-Schäffer:
KONTUR-2: Force-feedback teleoperation from the international space station. ICRA 2016: 1166-1173 - [c124]Friedrich Lange, Gerhard Grunwald, Alin Albu-Schäffer:
Robotic simulation of on orbit servicing including hard impacts. IROS 2016: 2992-2997 - [c123]Michael Wolfram, Haider Ali, Alin Albu-Schäffer:
Visual Focus of Attention Recognition from Fixed Chair Sitting Postures Using RGB-D Data. ISM 2016: 325-328 - 2015
- [c122]Marco De Stefano, Jordi Artigas, Wolfgang Rackl, Alin Albu-Schäffer:
Passivity of virtual free-floating dynamics rendered on robotic facilities. ICRA 2015: 781-788 - [c121]Jordi Artigas, Marco De Stefano, Wolfgang Rackl, Roberto Lampariello, Bernhard Brunner, Wieland Bertleff, Robert Burger, Oliver Porges, Alessandro Giordano, Christoph Borst, Alin Albu-Schäffer:
The OOS-SIM: An on-ground simulation facility for on-orbit servicing robotic operations. ICRA 2015: 2854-2860 - [c120]Daniel Leidner, Christoph Borst, Alexander Dietrich, Michael Beetz, Alin Albu-Schäffer:
Classifying compliant manipulation tasks for automated planning in robotics. IROS 2015: 1769-1776 - [c119]Dominic Lakatos, Daniel Seidel, Werner Friedl, Alin Albu-Schäffer:
Targeted jumping of compliantly actuated hoppers based on discrete planning and switching control. IROS 2015: 5802-5808 - [c118]Michael Beetz, Georg Bartels, Alin Albu-Schäffer, Ferenc Balint-Benczedi, Rico Belder, Daniel Beßler, Sami Haddadin, Alexis Maldonado, Nico Mansfeld, Thiemo Wiedemeyer, Roman Weitschat, Jan-Hendrik Worch:
Robotic agents capable of natural and safe physical interaction with human co-workers. IROS 2015: 6528-6535 - 2014
- [c117]Dominic Lakatos, Alin Albu-Schäffer:
Neuron model interpretation of a cyclic motion control concept. BioRob 2014: 905-910 - [c116]Mehmet Can Ozparpucu, Alin Albu-Schäffer:
Optimal control strategies for maximizing the performance of Variable Stiffness Joints with nonlinear springs. CDC 2014: 1409-1416 - [c115]Luc Le Tien, Alin Albu-Schäffer:
Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots. CDC 2014: 4548-4553 - [c114]Johannes Englsberger, Alexander Werner, Christian Ott, Bernd Henze, Máximo A. Roa, Gianluca Garofalo, Robert Burger, Alexander Beyer, Oliver Eiberger, Korbinian Schmid, Alin Albu-Schäffer:
Overview of the torque-controlled humanoid robot TORO. Humanoids 2014: 916-923 - [c113]Dominic Lakatos, Christian Rode, André Seyfarth, Alin Albu-Schäffer:
Design and control of compliantly actuated bipedal running robots: Concepts to exploit natural system dynamics. Humanoids 2014: 930-937 - [c112]Daniel Leidner, Alexander Dietrich, Florian Schmidt, Christoph Borst, Alin Albu-Schäffer:
Object-centered hybrid reasoning for whole-body mobile manipulation. ICRA 2014: 1828-1835 - [c111]Florian Petit, Christian Ott, Alin Albu-Schäffer:
A model-free approach to vibration suppression for intrinsically elastic robots. ICRA 2014: 2176-2182 - [c110]Alexander Dietrich, Melanie Kimmel, Thomas Wimböck, Sandra Hirche, Alin Albu-Schäffer:
Workspace analysis for a kinematically coupled torso of a torque controlled humanoid robot. ICRA 2014: 3439-3445 - [c109]Dominic Lakatos, Gianluca Garofalo, Alexander Dietrich, Alin Albu-Schäffer:
Jumping control for compliantly actuated multilegged robots. ICRA 2014: 4562-4568 - [c108]Stefan Jörg, Jan Tully, Alin Albu-Schäffer:
The Hardware Abstraction Layer - Supporting control design by tackling the complexity of humanoid robot hardware. ICRA 2014: 6427-6433 - [c107]Johannes Englsberger, Twan Koolen, Sylvain Bertrand, Jerry E. Pratt, Christian Ott, Alin Albu-Schäffer:
Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. IROS 2014: 4022-4029 - 2013
- [c106]Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. ACC 2013: 5715-5721 - [c105]Thomas Bahls, Florian A. Fröhlich, Alin Olimpiu Albu-Schäffer:
Towards robot guided waterjet surgery. CURAC 2013: 81-84 - [c104]Karan Sharma, Sami Haddadin, Sebastian Minning, Johann Heindl, Tobias Bellmann, Sven Parusel, Tim Rokahr, Alin Albu-Schäffer:
Evaluation of human safety in the DLR Robotic Motion Simulator using a crash test dummy. ICRA 2013: 205-212 - [c103]Dominic Lakatos, Florian Petit, Alin Albu-Schäffer:
Nonlinear oscillations for cyclic movements in variable impedance actuated robotic arms. ICRA 2013: 508-515 - [c102]Dominic Lakatos, Gianluca Garofalo, Florian Petit, Christian Ott, Alin Albu-Schäffer:
Modal limit cycle control for variable stiffness actuated robots. ICRA 2013: 4934-4941 - [c101]Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
On the closed form computation of the dynamic matrices and their differentiations. IROS 2013: 2364-2359 - [c100]Johannes Englsberger, Christian Ott, Alin Albu-Schäffer:
Three-dimensional bipedal walking control using Divergent Component of Motion. IROS 2013: 2600-2607 - [c99]Alexander Dietrich, Christian Ott, Alin Albu-Schäffer:
Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability. IROS 2013: 3043-3050 - [c98]Felix Huber, Konstantin Kondak, Kai Krieger, Dominik Sommer, Marc Schwarzbach, Maximilian Laiacker, Ingo Kossyk, Sven Parusel, Sami Haddadin, Alin Albu-Schäffer:
First analysis and experiments in aerial manipulation using fully actuated redundant robot arm. IROS 2013: 3452-3457 - [c97]Bastian Deutschmann, Rainer Konietschke, Alin Albu-Schäffer:
Task-specific evaluation of kinematic designs for instruments in minimally invasive robotic surgery. IROS 2013: 3590-3597 - [c96]Thomas Hulin, Ricardo Gonzalez Camarero, Alin Albu-Schäffer:
Optimal control for haptic rendering: Fast energy dissipation and minimum overshoot. IROS 2013: 4505-4511 - [c95]Dominic Lakatos, Martin Görner, Florian Petit, Alexander Dietrich, Alin Albu-Schäffer:
A modally adaptive control for multi-contact cyclic motions in compliantly actuated robotic systems. IROS 2013: 5388-5395 - [c94]Sebastian Wolf, Alin Albu-Schäffer:
Towards a robust variable stiffness actuator. IROS 2013: 5410-5417 - [c93]Martin Görner, Alin Albu-Schäffer:
A robust sagittal plane hexapedal running model with serial elastic actuation and simple periodic feedforward control. IROS 2013: 5586-5592 - [c92]Roman Weitschat, Sami Haddadin, Felix Huber, Alin Albu-Schäffer:
Dynamic optimality in real-time: A learning framework for near-optimal robot motions. IROS 2013: 5636-5643 - [c91]Sami Haddadin, Roman Weitschat, Felix Huber, Mehmet Can Özparpucu, Nico Mansfeld, Alin Albu-Schäffer:
Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time. ISRR 2013: 131-148 - [c90]Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schäffer:
It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning. SAFECOMP 2013: 202-215 - 2012
- [c89]Sami Haddadin, Mehmet Can Ozparpucu, Alin Albu-Schäffer:
Optimal control for maximizing potential energy in a variable stiffness joint. CDC 2012: 1199-1206 - [c88]Michael Panzirsch, Jordi Artigas, Andreas Tobergte, Paul Kotyczka, Carsten Preusche, Alin Albu-Schäffer, Gerd Hirzinger:
A Peer-to-Peer Trilateral Passivity Control for Delayed Collaborative Teleoperation. EuroHaptics (1) 2012: 395-406 - [c87]Arash Ajoudani, Marco Gabiccini, Nikolaos G. Tsagarakis, Alin Albu-Schäffer, Antonio Bicchi:
TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness. Humanoids 2012: 363-369 - [c86]Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
Walking control of fully actuated robots based on the Bipedal SLIP model. ICRA 2012: 1456-1463 - [c85]Alexander Dietrich, Alin Albu-Schäffer, Gerd Hirzinger:
On continuous null space projections for torque-based, hierarchical, multi-objective manipulation. ICRA 2012: 2978-2985 - [c84]Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet:
A versatile biomimetic controller for contact tooling and haptic exploration. ICRA 2012: 3329-3334 - [c83]Sami Haddadin, Felix Huber, Alin Albu-Schäffer:
Optimal control for exploiting the natural dynamics of Variable Stiffness robots. ICRA 2012: 3347-3354 - [c82]Andreas Tobergte, Alin Albu-Schäffer:
Direct force reflecting teleoperation with a flexible joint robot. ICRA 2012: 4280-4287 - [c81]Luc Le Tien, Alin Albu-Schäffer:
Adaptive friction compensation in trajectory tracking control of DLR medical robots with elastic joints. IROS 2012: 1149-1154 - [c80]David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar:
Optimal torque and stiffness control in compliantly actuated robots. IROS 2012: 2801-2808 - [c79]Sami Haddadin, Felix Huber, Kai Krieger, Roman Weitschat, Alin Albu-Schäffer, Sebastian Wolf, Werner Friedl, Markus Grebenstein, Florian Petit, Jens Reinecke, Roberto Lampariello:
Intrinsically elastic robots: The key to human like performance. IROS 2012: 4270-4271 - [c78]Sami Haddadin, Kai Krieger, Nico Mansfeld, Alin Albu-Schäffer:
On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level. IROS 2012: 5089-5096 - [c77]Sami Haddadin, Nico Mansfeld, Alin Albu-Schäffer:
Rigid vs. elastic actuation: Requirements & performance. IROS 2012: 5097-5104 - [c76]Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer:
A truly safely moving robot has to know what injury it may cause. IROS 2012: 5406-5413 - [c75]Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Ganesh Gowrishankar, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf:
Variable impedance actuators: Moving the robots of tomorrow. IROS 2012: 5454-5455 - [c74]Alin Albu-Schäffer, Christian Ott, Florian Petit:
Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems. SyRoCo 2012: 567-575 - [c73]Florian Petit, Dominic Lakatos, Werner Friedl, Alin Albu-Schäffer:
Dynamic Trajectory Generation for Serial Elastic Actuated Robots. SyRoCo 2012: 636-643 - 2011
- [c72]Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schäffer, Gerd Hirzinger:
Safe acting and manipulation in human environments: A key concept for robots in our society. ARSO 2011: 72-75 - [c71]Sami Haddadin, Kai Krieger, Alin Albu-Schäffer:
Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling. CDC/ECC 2011: 690-697 - [c70]Markus Grebenstein, Alin Albu-Schäffer, Thomas Bahls, Maxime Chalon, Oliver Eiberger, Werner Friedl, Robin Gruber, Sami Haddadin, Ulrich Hagn, Robert Haslinger, Hannes Höppner, Stefan Jörg, Mathias Nickl, Alexander Nothhelfer, Florian Petit, Josef Reill, Nikolaus Seitz, Thomas Wimböck, Sebastian Wolf, Tilo Wüsthoff, Gerd Hirzinger:
The DLR hand arm system. ICRA 2011: 3175-3182 - [c69]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 - [c68]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 - [c67]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 - [c66]Florian Petit, Alin Albu-Schäffer:
State feedback damping control for a multi DOF variable stiffness robot arm. ICRA 2011: 5561-5567 - [c65]Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger:
Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint. ICRA 2011: 6136-6142 - [c64]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 - [c63]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 - [c62]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 - [c61]Tobias Ende, Sami Haddadin, Sven Parusel, Tilo Wüsthoff, Marc Hassenzahl, Alin Albu-Schäffer:
A human-centered approach to robot gesture based communication within collaborative working processes. IROS 2011: 3367-3374 - [c60]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 - [c59]Florian Petit, Alin Albu-Schäffer:
Cartesian impedance control for a variable stiffness robot arm. IROS 2011: 4180-4186 - [c58]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 - [c57]Johannes Englsberger, Christian Ott, Máximo A. Roa, Alin Albu-Schäffer, Gerhard Hirzinger:
Bipedal walking control based on Capture Point dynamics. IROS 2011: 4420-4427 - [c56]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 R. Roelfsema, Xenophon Verykios, Antonio Bicchi, Chris Melhuish, Alin Albu-Schäffer:
Robot Companions for Citizens. FET 2011: 47-51 - 2010
- [c55]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 - [c54]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 - [c53]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 - [c52]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 - [c51]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
Soft-tissue injury in robotics. ICRA 2010: 3426-3433 - [c50]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 - [c49]Sami Haddadin, Alin Albu-Schäffer, Oliver Eiberger, Gerd Hirzinger:
New insights concerning intrinsic joint elasticity for safety. IROS 2010: 2181-2187 - [c48]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 - [c47]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 - [c46]Etienne Burdet, Ganesh Gowrishankar, Chenguang Yang, Alin Albu-Schäffer:
Interaction Force, Impedance and Trajectory Adaptation: By Humans, for Robots. ISER 2010: 331-345 - [c45]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 - 2009
- [c44]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 - [c43]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 - [c42]Rainer Konietschke, Ulrich Hagn, Mathias Nickl, Stefan Jörg, Andreas Tobergte, Georg Passig, Ulrich Seibold, Luc Le Tien, Bernhard Kübler, Martin Gröger, Florian A. Fröhlich, Christian Rink, Alin Albu-Schäffer, Markus Grebenstein, Tobias Ortmaier, Gerd Hirzinger:
The DLR MiroSurge - A robotic system for surgery. ICRA 2009: 1589-1590 - [c41]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 - [c40]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 - [c39]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 - [c38]Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Sebastian Wolf, Christoph Borst, Gerd Hirzinger:
Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance. ISRR 2009: 185-207 - [c37]Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger:
Towards the Robotic Co-Worker. ISRR 2009: 261-282 - 2008
- [c36]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 - [c35]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 - [c34]Sami Haddadin, Alin Albu-Schäffer, Michael Strohmayr, Mirko Frommberger, Gerd Hirzinger:
Injury evaluation of human-robot impacts. ICRA 2008: 2203-2204 - [c33]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 - [c32]Paolo Robuffo Giordano, Andreas Stemmer, Klaus Arbter, Alin Albu-Schäffer:
Robotic assembly of complex planar parts: An experimental evaluation. IROS 2008: 3775-3782 - [c31]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 - [c30]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 - 2007
- [c29]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 - [c28]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 - [c27]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 - [c26]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 - [c25]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights. ISRR 2007: 395-407 - [c24]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing. Robotics: Science and Systems 2007 - 2006
- [c23]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 - [c22]Alin Albu-Schäffer, Wieland Bertleff, Bernhard Rebele, Bernd-Helge Schäfer, Klaus Landzettel, Gerd Hirzinger:
ROKVISS - Robotics Component Verification on ISS Current Experimental Results on Parameter Identification. ICRA 2006: 3879-3885 - [c21]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 - [c20]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 - [c19]Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger:
A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure. IROS 2006: 4502-4508 - [c18]Klaus Landzettel, Carsten Preusche, Alin Albu-Schäffer, Detlef Reintsema, Bernhard Rebele, Gerd Hirzinger:
Robotic On-Orbit Servicing - DLR's Experience and Perspective. IROS 2006: 4587-4594 - [c17]Andreas Stemmer, Günter Schreiber, Klaus Arbter, Alin Albu-Schäffer:
Robust Assembly of Complex Shaped Planar Parts Using Vision and Force. MFI 2006: 493-500 - 2005
- [c16]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 - [c15]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 - 2004
- [c14]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 - [c13]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 - [c12]Alin Albu-Schäffer, Max Fischer, Günter Schreiber, Florian Schoeppe, Gerd Hirzinger:
Soft robotics: what Cartesian stiffness can obtain with passively compliant, uncoupled joints? IROS 2004: 3295-3301 - [c11]Holger Urbanek, Alin Albu-Schäffer, Patrick van der Smagt:
Learning from demonstration: repetitive movements for autonomous service robotics. IROS 2004: 3495-3500 - 2003
- [c10]Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger:
Decoupling based Cartesian impedance control of flexible joint robots. ICRA 2003: 3101-3107 - [c9]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
- [c8]Alin Albu-Schäffer, Gerd Hirzinger:
Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots. ICRA 2002: 657-663 - [c7]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 - [c6]Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger:
Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator. IROS 2002: 2018-2024 - 2001
- [c5]Alin Albu-Schäffer, Gerd Hirzinger:
Parameter Identification and Passivity Based Joint Control for a 7DOF Torque controlled Light Weight Robot. ICRA 2001: 2852-2858 - [c4]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 - [c3]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 - 2000
- [c2]Alin Albu-Schäffer, Gerd Hirzinger:
State feedback controller for flexible joint robots: a globally stable approach implemented on DLR's light-weight robots. IROS 2000: 1087-1093 - 1998
- [c1]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
Parts in Books or Collections
- 2016
- [p2]Alin Albu-Schäffer, Antonio Bicchi:
Actuators for Soft Robotics. Springer Handbook of Robotics, 2nd Ed. 2016: 499-530 - 2003
- [p1]Alin Albu-Schäffer, Gerd Hirzinger:
Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots. Control Problems in Robotics 2003: 135-151
Informal and Other Publications
- 2024
- [i21]Florian Leutert, David Bohlig, Florian Kempf, Klaus Schilling, Maximilian Mühlbauer, Bengisu Ayan, Thomas Hulin, Freek Stulp, Alin Albu-Schäffer, Vladimir Kutscher, Christian Plesker, Thomas Dasbach, Stephan Damm, Reiner Anderl, Benjamin Schleich:
AI-enabled Cyber-Physical In-Orbit Factory - AI approaches based on digital twin technology for robotic small satellite production. CoRR abs/2401.17799 (2024) - [i20]Pietro Pustina, Davide Calzolari, Alin Albu-Schäffer, Alessandro De Luca, Cosimo Della Santina:
Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots. CoRR abs/2402.07038 (2024) - [i19]Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer:
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes. CoRR abs/2404.08478 (2024) - [i18]Markus Knauer, Alin Albu-Schäffer, Freek Stulp, João Silvério:
Interactive incremental learning of generalizable skills with local trajectory modulation. CoRR abs/2409.05655 (2024) - [i17]Maximilian Mühlbauer, Maxime Chalon, Maximilian Ulmer, Alin Albu-Schäffer:
Software for the SpaceDREAM Robotic Arm. CoRR abs/2409.17562 (2024) - 2023
- [i16]Alistair Weld, Michael Dyck, Julian Klodmann, Giulio Anichini, Luke Dixon, Sophie Camp, Alin Albu-Schäffer, Stamatia Giannarou:
Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery. CoRR abs/2301.08174 (2023) - [i15]Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi:
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. CoRR abs/2303.01705 (2023) - [i14]Michael Dyck, Alistair Weld, Julian Klodmann, Alexander Kirst, Giulio Anichini, Luke Dixon, Sophie Camp, Stamatia Giannarou, Alin Albu-Schäffer:
Automated robotic intraoperative ultrasound for brain surgery. CoRR abs/2304.01027 (2023) - [i13]Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjin Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard:
Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments. CoRR abs/2310.05600 (2023) - [i12]Antonin Raffin, Olivier Sigaud, Jens Kober, Alin Albu-Schäffer, João Silvério, Freek Stulp:
A Simple Open-Loop Baseline for Reinforcement Learning Locomotion Tasks. CoRR abs/2310.05808 (2023) - [i11]Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok:
Learning-based adaption of robotic friction models. CoRR abs/2310.16688 (2023) - [i10]Michael Dyck, Alistair Weld, Julian Klodmann, Alexander Kirst, Luke Dixon, Giulio Anichini, Sophie Camp, Alin Albu-Schäffer, Stamatia Giannarou:
Towards Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery. CoRR abs/2312.08409 (2023) - 2022
- [i9]Alin Albu-Schäffer, Arne Sachtler:
Quasi-Orthogonal Foliations of the Configuration Space - A Redundancy Resolution Approach at Position Level. CoRR abs/2202.09869 (2022) - [i8]Antonin Raffin, Daniel Seidel, Jens Kober, Alin Albu-Schäffer, João Silvério, Freek Stulp:
Learning to Exploit Elastic Actuators for Quadruped Locomotion. CoRR abs/2209.07171 (2022) - [i7]Maged Iskandar, Christiaan van Ommeren, Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich:
Model Predictive Control for Flexible Joint Robots. CoRR abs/2210.08084 (2022) - [i6]Alin Albu-Schäffer, Arne Sachtler:
What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots? CoRR abs/2211.08165 (2022) - 2021
- [i5]Manuel Stoiber, Martin Pfanne, Klaus H. Strobl, Rudolph Triebel, Alin Albu-Schäffer:
SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World. CoRR abs/2110.12715 (2021) - 2019
- [i4]Min Jun Kim, Fabian Beck, Christian Ott, Alin Albu-Schäffer:
Model-free Friction Observers for Flexible Joint Robots with Torque Measurements. CoRR abs/1907.00553 (2019) - [i3]Alin Albu-Schäffer, Dominic Lakatos, Stefano Stramigioli:
One-Dimensional Solution Families of Nonlinear Systems Characterized by Scalar Functions on Riemannian Manifolds. CoRR abs/1911.01882 (2019) - 2018
- [i2]Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer:
Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Soft Robots. CoRR abs/1806.08389 (2018) - [i1]Karan Sharma, Claudio Castellini, Egon L. van den Broek, Alin Albu-Schäffer, Friedhelm Schwenker:
A dataset of continuous affect annotations and physiological signals for emotion analysis. CoRR abs/1812.02782 (2018)
Coauthor Index
[j52] [j50] [j44] [j30] [j26] [j25] [j23] [j20] [j16] [j14] [j12] [j11] [j9] [j5] [c173] [c118] [c104] [c98] [c92] [c91] [c90] [c89] [c84] [c83] [c80] [c79] [c78] [c77] [c76] [c75] [c72] [c71] [c70] [c68] [c67] [c64] [c61] [c54] [c53] [c51] [c49] [c48] [c47] [c45] [c44] [c43] [c38] [c37] [c36] [c35] [c34] [c33] [c28] [c25] [c24] [c20] [i13]
Gerd Hirzinger
aka: Gerhard Hirzinger
aka: Gerhard Hirzinger
[j82] [j28] [j24] [j22] [j21] [j19] [j18] [j17] [j16] [j15] [j14] [j13] [j12] [j11] [j10] [j9] [j8] [j7] [j6] [j5] [j4] [j3] [j2] [j1] [c88] [c85] [c72] [c70] [c69] [c65] [c63] [c60] [c57] [c55] [c54] [c51] [c50] [c49] [c48] [c47] [c45] [c44] [c43] [c42] [c41] [c40] [c39] [c38] [c37] [c36] [c35] [c34] [c33] [c31] [c30] [c29] [c28] [c27] [c26] [c25] [c24] [c23] [c22] [c21] [c20] [c19] [c18] [c16] [c15] [c14] [c13] [c12] [c10] [c9] [c8] [c7] [c6] [c5] [c4] [c3] [c2] [c1] [p1]
[j102] [j98] [j96] [j94] [j87] [j82] [j76] [j75] [j71] [j67] [j65] [j63] [j59] [j58] [j51] [j47] [j42] [j37] [j36] [j34] [j31] [j24] [j18] [j9] [j7] [j6] [j5] [j4] [c169] [c168] [c157] [c156] [c154] [c152] [c151] [c149] [c144] [c143] [c139] [c138] [c137] [c132] [c131] [c129] [c126] [c114] [c111] [c107] [c106] [c102] [c101] [c100] [c99] [c86] [c74] [c57] [c55] [c38] [c30] [c28] [c23] [c21] [c19] [c16] [c15] [c14] [c13] [c10] [c9] [c6] [i15] [i4]
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