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Einträge mit Themengebiet "Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme"

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Anzahl der Einträge auf dieser Ebene: 138.

A

  Amara, Vishnu Dev (2016) Exploration of human control strategies for actuating elastic joints - an optimal control approach. DLR-Interner Bericht. DLR-IB-RM-OP-2016-359. Volltext nicht online. file

  Artigas, Jordi und De Stefano, Marco und Rackl, Wolfgang und Lampariello, Roberto und Brunner, Bernhard und Bertleff, Wieland und Burger, Robert und Porges, Oliver und Giordano, Alessandro und Borst, Christoph und Albu-Schäffer, Alin (2015) The OOS-SIM: An On-ground Simulation Facility For On-Orbit Servicing Robotic Operations. In: IEEE International Conference on Robotics and Automation (ICRA). 2015 IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, Washington, USA. file

  Artigas Esclusa, Jordi und Balachandran, Ribin und Riecke, Cornelia und Stelzer, Martin und Weber, Bernhard und Ryu, Jee-Hwan und Albu-Schäffer, Alin Olimpiu (2016) KONTUR-2: Force-feedback Teleoperation from the International Space Station. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation, Stockholm, Sweden. file

B

  Balachandran, Ribin und Artigas, Jordi und Mehmood, Usman und Ryu, J.H. (2016) Performance Comparison of Wave Variable Transformation and Time Domain Passivity Approaches for Time-Delayed Teleoperation: Preliminary Results. Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, Daejeon, Korea. Volltext nicht frei. file

  Balmer, Georg Robert (2015) Modelling and Control of a Fixed-wing UAV for Landings on Mobile Landing Platforms. Masterarbeit. DLR-Interner Bericht. DLR-IB 572-2015/35, 73 S. file

  Beck, Fabian (2016) An Algorithm to Determine the Self-Motion Manifold of a Robotic System Consisting of a DLR Lightweight Robot and Linear Axis. Bachelorarbeit. DLR-Interner Bericht. DLR-IB-RM-OP-2016-328. Volltext nicht online. file

C

  Chen, Zhaopeng und Lii, Neal Y. und Wimboeck, Thomas und Fan, Shaowei und Liu, Hong und Albu-Schaeffer, Alin (2014) EXPERIMENTAL ANALYSIS ON SPATIAL AND CARTESIAN IMPEDANCE CONTROL FOR THE DEXTEROUS DLR/HIT II HAND. International Journal of Robotics & Automation, 29 (1), Seiten 1-13. ACTA. DOI: 10.2316/Journal.206.2014.1.206-3669 ISSN 0826-8185 file

  Chen, Zhaopeng und Ott, Christian und Lii, Neal Y. (2015) A Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework. In: International Conference on Intelligent Robotics and Applications. Springer. The 8th International Conference on Intelligent Robotics and Applications, Aug 24-27, 2015, Portsmouth, UK. file

  Chen, Zhaopeng und Wimboeck, Thomas und Roa, Maximo A. und Pleintinger, Benedikt und Neves, Miguel und Ott, Christian und Borst, Christoph und Lii, Neal Y. (2015) An Adaptive Compliant Multi-finger Approach-To-Grasp Strategy for Objects with Position Uncertainties. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 4911-4918. IEEE. 2015 IEEE International Conference on Robotics and Automation (ICRA), May 26-30, 2015, Seattle, Washington, USA. file

  Corso, Mario und Lampariello, Roberto und Rackl, Wolfgang und Gasbarri, Paolo (2016) Modelling, Dynamic Analysis and Robotic Control Strategies for the Deorbiting Operations of the ESA Satellite Envisat. Masterarbeit. DLR-Interner Bericht. DLR-IB-RM-OP-2016-327, 108 S. file

  chalon, maxime und reinecke, jens und pfanne, martin (2013) Online in-hand object localization. In: IEEE RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems, 3-7 November 2013, Tokyo, Japan. file

D

  De Stefano, Marco und Artigas, Jordi und Giordano, Alessandro und Lampariello, Roberto und Albu-Schaeffer, Alin (2015) On-ground experimental verification of a torque controlled free-floating robot. 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2015), 11-13 May 2015, ESA/ESTEC, Noordwijk, the Netherlands. file

  De Stefano, Marco und Artigas, Jordi und Rackl, Wolfang und Albu-Schaeffer, Alin (2015) Passivity of Virtual Free-Floating Dynamics Rendered on Robotic Facilities. In: IEEE International Conference on Robotics and Automation (ICRA). 2015 IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, Washington, USA. file

  De Stefano, Marco und Artigas, Jordi und Secchi, Cristian (2016) An Optimized Passivity-based Method for Simulating Satellite Dynamics on a Position Controlled Robot in Presence of Latencies. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 9-14 October 2016, Daejeon, Korea. DOI: 10.1109/IROS.2016.7759797 Volltext nicht frei. file

  Deutschmann, Bastian und Konietschke, Rainer und Ott, Christian (2014) Task Specific Evaluation of Kinematic Designs for Minimally Invasive Surgery. Workshop on Medical and Service Robotics, 10-12 July 2014, Lausanne, Switzerland. Volltext nicht frei. file

  Deutschmann, Bastian und Konietschke, Rainer und Ott, Christian (2016) Kinematic Analysis of Instruments for Minimally Invasive Robotic Surgery: Generalization of the Reference Task. In: New Trends in Medical and Service Robots Mechanism and Machine Science, 38. Springer. Seiten 141-152. ISBN 978-3-319-23831-9. ISSN 2211-0984 Volltext nicht frei. file

  Deutschmann, Bastian und Ott, Christian (2015) Feasible Modeling Approaches for Thick Continuum Robots. A Planar Experimental Study. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 28 Sept - 02 Oct 2015, Hamburg. Volltext nicht frei. file

  Dietrich, Alexander (2015) Whole-Body Impedance Control of Wheeled Humanoid Robots. Dissertation. DLR-Interner Bericht. 572-2015/02, 192 S. file

  Dietrich, Alexander (2016) Whole-Body Impedance Control of Wheeled Humanoid Robots. Springer Tracts in Advanced Robotics, 116. Springer International Publishing. ISBN 978-3-319-40556-8. ISSN 1610-7438 Volltext nicht frei. file

  Dietrich, Alexander und Bussmann, Kristin und Petit, Florian und Kotyczka, Paul und Ott, Christian und Lohmann, Boris und Albu-Schäffer, Alin (2015) Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin. Autonomous Robots. Springer. DOI: 10.1007/s10514-015-9438-z ISSN 0929-5593 Volltext nicht frei. file

  Dietrich, Alexander und Kimmel, Melanie und Wimböck, Thomas und Hirche, Sandra und Albu-Schäffer, Alin (2014) Workspace Analysis for a Kinematically Coupled Torso of a Torque Controlled Humanoid Robot. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 3439-3445. International Conference on Robotics and Automation, 31. Mai - 07. Juni 2014, Hong Kong, China. file

  Dietrich, Alexander und Ott, Christian und Albu-Schäffer, Alin (2013) Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Seiten 3043-3050. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 03.-08. November 2013, Tokyo, Japan. file

  Dietrich, Alexander und Ott, Christian und Albu-Schäffer, Alin (2015) An Overview of Null Space Projections for Redundant, Torque Controlled Robots. International Journal of Robotics Research, 34 (11), Seiten 1385-1400. SAGE. DOI: 10.1177/0278364914566516 ISSN 0278-3649 Volltext nicht frei. filefile

  Dietrich, Alexander und Ott, Christian und Stramigioli, S. (2015) Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks. IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2015.2512937 ISSN 2377-3766 Volltext nicht frei. file

  Dietrich, Alexander und Wu, Xuwei und Bussmann, Kristin und Ott, Christian und Albu-Schäffer, Alin Olimpiu und Stramigioli, S. (2016) Passive Hierarchical Impedance Control via Energy Tanks. IEEE Robotics and Automation Letters. IEEE. DOI: 10.1109/LRA.2016.2645504 ISSN 2377-3766 Volltext nicht frei. file

  Djellab, Badis (2015) Minimizing the effective robot mass in human-robot collisions by exploiting redundancy. Masterarbeit. DLR-Interner Bericht. 572-2015/23, 44 S. Volltext nicht frei. file

  Driessen, J.J.M und Görner, Martin (2014) The effects of serial elastic actuation and upper body configuration on power consumption of a simplified planar humanoid. Dynamic Walking 2014, 10.-13. Jun. 2014, Zürich, Schweiz. file

E

  Englsberger, Johannes (2016) Combining reduced dynamics models and whole-body control for agile humanoid locomotion. Dissertation. Volltext nicht frei. file

  Englsberger, Johannes und Koolen, Twan und Bertrand, Sylvain und Pratt, Jerry und Ott, Christian und Albu-Schäffer, Alin (2014) Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. In: IEEE RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems (IROS), 2014, Chicago, USA. file

  Englsberger, Johannes und Kozlowski, Pawel und Ott, Christian (2015) Biologically Inspired Dead-beat controller for bipedal running in 3D. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IROS 2015, Hamburg, Deutschland. file

  Englsberger, Johannes und Kozlowski, Pawel und Ott, Christian (2015) Dynamic Walking: Biologically inspired dead-beat controller for bipedal running in 3D. Dynamic Walking 2015, 21.-24. Jul. 2015, Columbus, Ohio, USA. Volltext nicht frei. file

  Englsberger, Johannes und Kozlowski, Pawel und Ott, Christian (2015) Biologically Inspired Deadbeat control for running on 3D stepping stones. In: IEEE/RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots 2015, 3.-5. Nov. 2015, Seoul, Korea. Volltext nicht frei. file

  Englsberger, Johannes und Kozlowski, Pawel und Ott, Christian und Albu-Schäffer, Alin Olimpiu (2016) Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back. IEEE Transactions on Robotics, 32 (4), Seiten 854-867. DOI: 10.1109/TRO.2016.2581199 ISSN 1552-3098 Volltext nicht online.

  Englsberger, Johannes und Ott, Christian und Albu-Schäffer, Alin (2013) A method for rough terrain locomotion based on Divergent Component of Motion. DGR-Tage (Deutsche Gesellschaft für Robotik), 07.-08. Okt. 2013, München. file

  Englsberger, Johannes und Ott, Christian und Albu-Schäffer, Alin (2013) Three-dimensional bipedal walking control using Divergent Component of Motion. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. International Conference on Intelligent Robots and Systems (IROS), 2013, Tokyo, Japan. file

  Englsberger, Johannes und Ott, Christian und Albu-Schäffer, Alin (2015) Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion. IEEE Transactions on Robotics. ISSN 1552-3098 Volltext nicht frei. file

  Englsberger, Johannes und Werner, Alexander und Ott, Christian und Henze, Bernd und Roa, Maximo A. und Garofalo, Gianluca und Burger, Robert und Beyer, Alexander und Eiberger, Oliver und Schmid, Korbinian und Albu-Schäffer, Alin (2014) Overview of the torque-controlled humanoid robot TORO. In: IEEE-RAS International Conference on Humanoid Robots 2014. IEEE-RAS International Conference on Humanoid Robots 2014, Madrid, Spanien. file

F

  Fischer, Florian Christoph (2016) Development of Servo-Units for a Compliantly Actuated Quadruped Prototype. Masterarbeit. DLR-Interner Bericht. IB-RM-OP-2016-80, 107 S. (nicht veröffentlicht) Volltext nicht frei. file

  Florek-Jasinska, Monika und Wimböck, Thomas und Ott, Christian (2014) Humanoid compliant whole arm dexterous manipulation: Control design and experiments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X), Seiten 1616-1621. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), September 14-18, 2014, Chicago, USA. ISSN 1042-296X Volltext nicht online.

G

  Garofalo, Gianluca und Englsberger, Johannes und Ott, Christian (2015) On the regulation of the energy of elastic joint robots: excitation and damping of oscillations. In: American Control Conference (ACC), Seiten 4825-4831. American Control Conference (ACC) 2015, Chicago, USA. Volltext nicht online.

  Garofalo, Gianluca und Henze, Bernd und Englsberger, Johannes und Ott, Christian (2015) On the inertially decoupled structure of the floating base robot dynamics. In: 8th Vienna International Conference on Mathematical Modelling (MATHMOD), Seiten 322-327. 8th Vienna International Conference on Mathematical Modelling (2015), Vienna, Austria. Volltext nicht online.

  Garofalo, Gianluca und Ott, Christian (2015) Limit Cycle Control Using Energy Function Regulation with Friction Compensation. IEEE Robotics and Automation Letters, 1 (1), Seiten 90-97. DOI: 10.1109/LRA.2015.2507784 ISSN 2377-3766 Volltext nicht online.

  Garofalo, Gianluca und Ott, Christian (2016) Energy Based Limit Cycle Control of Elastically Actuated Robots. IEEE Transactions on Automatic Control. DOI: 10.1109/TAC.2016.2599781 ISSN 0018-9286 Volltext nicht online.

  Garofalo, Gianluca und Ott, Christian (2016) Steps Towards Energy Efficiency in Elastically Actuated Robots. Proceedings of the 19th International Conference on CLAWAR 2016, London, UK. DOI: 10.1142/9789813149137_0090 Volltext nicht online.

  Garofalo, Gianluca und Ott, Christian und Albu-Schäffer, Alin (2013) Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. In: American Control Conference (ACC). The 2013 American Control Conference, 17-19 Jun 2013, Washington DC, USA. Volltext nicht online.

  Garofalo, Gianluca und Ott, Christian und Albu-Schäffer, Alin (2013) Asymptotically stable limit cycles generation by using nullspace decomposition and energy regulation. DGR-Tage 2013, 07-08 Oct 2013, Munich, Germany. Volltext nicht online.

  Gonzales Marin, Antonio (2014) Blunt thoracic injury: Unifying experimental knowledge from biomechanics and robotics for estimating human injury probability. Masterarbeit. DLR-Interner Bericht. DLR-IB 572-2014/25, 82 S. Volltext nicht frei. file

  González Camarero, Ricardo (2014) Dynamic Simulation and Control of Exoskeletal Devices for an Astronaut’s Hand and Leg. Masterarbeit. DLR-Interner Bericht. DLR-IB 572-2014/17, 104 S. Volltext nicht frei. file

  González Camarero, Ricardo und Hulin, Thomas und Vodermayer, Bernhard (2015) The STAMAS Simulator: A Kinematics and Dynamics Simulator for an Astronaut's Leg and Hand Exoskeleton. STAMAS Workshop - Smart technology for artificial muscle applications in space, Madrid, Spain. file

  Görner, Martin (2014) Towards robust hexapedal running with serial elastic actuation: A 3D simulation study. Dynamic Walking 2014, 10.-13. Jun. 2014, Zürich, Schweiz. file

H

  Henze, Bernd und Dietrich, Alexander und Ott, Christian (2015) An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. IEEE Robotics and Automation Letters. DOI: 10.1109/LRA.2015.2512933 ISSN 2377-3766 Volltext nicht online.

  Henze, Bernd und Ott, Christian und Roa, Maximo A. (2014) Posture and Balance Control for Humanoid Robots in Multi-Contact Scenarios Based on Model Predictive Control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IEEE/RSJ International Conference on Intelligent Robots and Systems, 14.-18. September 2014, Chicago, USA. DOI: 10.1109/IROS.2014.6943014 ISSN 1042-296X Volltext nicht online.

  Henze, Bernd und Roa Garzon, Máximo Alejandro und Ott, Christian (2016) Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios. International Journal of Robotics Research. DOI: 10.1177/0278364916653815 ISSN 0278-3649 Volltext nicht online.

  Henze, Bernd und Werner, Alexander und Roa, Maximo A. und Garofalo, Gianluca und Englsberger, Johannes und Ott, Christian (2014) Control Applications of TORO - a Torque Controlled Humanoid Robot. In: IEEE-RAS International Conference on Humanoid Robots (Humanoids). IEEE-RAS International Conference on Humanoid Robots (Humanoids), 18. - 20. Nov. 2014, Madrid, Spain. Volltext nicht online.

  Hu, Kai und Ott, Christian und Lee, Dongheui (2014) Online Human Walking Imitation in Task and Joint Space based on Quadratic Programming. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 3458-3464. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong. Volltext nicht online.

  Hu, Kai und Ott, Christian und Lee, Dongheui (2015) Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 5127-5133. 2015 IEEE International Conference on Robotics and Automation (ICRA), 26.-30. Mai 2015, Seattle. Volltext nicht online.

  Hu, Kai und Ott, Christian und Lee, Dongheui (2016) Learning and Generalization of Compensative Zero-Moment Point Trajectory for Biped Walking. IEEE Transactions on Robotics, 32 (3), Seiten 717-725. IEEE. DOI: 10.1109/TRO.2016.2553677 ISSN 1552-3098 Volltext nicht frei. file

  Hulin, Thomas und Albu-Schäffer, Alin und Hirzinger, Gerd (2014) Passivity and Stability Boundaries for Haptic Systems with Time Delay. IEEE Transactions on Control Systems Technology, 22 (4), Seiten 1297-1309. IEEE. DOI: 10.1109/TCST.2013.2283372 ISSN 1063-6536 Volltext nicht frei. file

  Hulin, Thomas und Alessandro, Cristiano und Vodermayer, Bernhard und Riener, Robert (2015) Evaluation of Force Feedforward Control for Actuators with Limited Dynamics and Time Delay. STAMAS Workshop - Smart technology for artificial muscle applications in space, Madrid, Spain. file

J

  Jiskra, Patrick (2016) Contact Modeling and Experimental Validation for Start and Landing of VTOL UAVs. Masterarbeit. DLR-Interner Bericht. DLR-IB-RM-OP-2016-262. Volltext nicht frei. file

  Jähne, Christoph (2015) Simulation and Controller Design for a Rover with Serial Elastic Actuators. Masterarbeit. DLR-Interner Bericht. 572-2015/01, 124 S. Volltext nicht frei. file

K

  Kajita, Shuuji und Ott, Christian (2016) Limbed Systems. In: Handbook of Robotics Springer. Seiten 419-442. Volltext nicht online.

  Keppler, Manuel (2014) System Identification, Design and Flight Testing H∞ Controllers for Heave Dynamics of RUAV. Diplomarbeit. DLR-Interner Bericht. 572-2014/27, 126 S. file

  Keppler, Manuel und Lakatos, Dominic und Ott, Christian und Albu-Schäffer, Alin (2016) A Passivity-Based Approach for Trajectory Tracking and Link-Side Damping of Compliantly Actuated Robots. In: IEEE International Conference on Robotics and Automation ICRA. ICRA 2016 IEEE International Conference on Robotics and Automation, 16-21 MAy 2016, Stockholm, Sweden. file

  Keppler, Manuel und Lakatos, Dominic und Ott, Christian und Albu-Schäffer, Alin (2016) A Passivity-Based Controller for Motion Tracking and Damping Assignment for Compliantly Actuated Robots. In: IEEE Conference on Decision and Control, Seiten 1521-1528. 55th IEEE Conference on Decision and Control, 12.-15. Dez. 2016, Las Vegas, USA. DOI: 10.1109/CDC.2016.7798482 file

  Kim, Minjun und Lee, Woongyong und Ott, Christian und Chung, Wan Kyun (2016) A Passivity-Based Admittance Control Design using Feedback Interconnections. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea. DOI: 10.1109/IROS.2016.7759143 Volltext nicht online.

  Klodmann, Julian und Lakatos, Dominic und Ott, Christian und Albu-Schäffer, Alin (2015) A Closed-Form Approach to Determine the Base Inertial Parameters of Complex Structured Robotic Systems. 8th Vienna International Conference on Mathematical Modelling, 18.-20. Feb. 2015, Wien. Volltext nicht frei. file

L

  Lakatos, Dominic und Albu-Schäffer, Alin (2014) Neuron model interpretation of a cyclic motion control concept. In: 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, Seiten 905-910. IEEE. 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 12.-15. Aug. 2014, Sao Paulo, Brasilien. DOI: 10.1109/BIOROB.2014.6913896 ISBN 978-1-4799-3126-2 file

  Lakatos, Dominic und Albu-Schäffer, Alin (2014) Switching Based Limit Cycle Control for Compliantly Actuated Second-Order Systems. In: 19th IFAC World Congress, 19 (1), Seiten 6392-6399. IFAC. 19th IFAC World Congress, 24.-29. Aug. 2014, Kapstadt, Südafrika. DOI: 10.3182/20140824-6-ZA-1003.02001 ISBN 978-3-902823-62-5 file

  Lakatos, Dominic und Albu-Schäffer, Alin (2016) Modal Matching: An Approach to Natural Compliant Jumping Control. IEEE Robotics and Automation Letters, 1 (1), Seiten 274-281. IEEE. DOI: 10.1109/LRA.2016.2519601 ISSN 2377-3766 file

  Lakatos, Dominic und Albu-Schäffer, Alin und Rode, Christian und Loeffl, Florian Christoph (2016) Dynamic Bipedal Walking by Controlling only the Equilibrium of Intrinsic Elasticities. In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Seiten 1282-1289. 2016 IEEE-RAS International Conference on Humanoid Robots, 15.-17. Nov. 2016, Cancun, Mexiko. file

  Lakatos, Dominic und Garofalo, Gianluca und Dietrich, Alexander und Albu-Schäffer, Alin (2014) Jumping Control for Compliantly Actuated Multilegged Robots. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 4562-4568. International Conference on Robotics and Automation, 31. Mai - 7. Jun. 2014, Hong Kong, China. file

  Lakatos, Dominic und Petit, Florian und Albu-Schäffer, Alin (2014) Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms. IEEE Transactions on Robotics, 30 (4), Seiten 865-879. IEEE. DOI: 10.1109/TRO.2014.2308371 ISSN 1552-3098 file

  Lakatos, Dominic und Rode, Christian und Seyfarth, Andre und Albu-Schäffer, Alin (2014) Design and Control of Compliantly Actuated Bipedal Running Robots: Concepts to Exploit Natural System Dynamics. In: 2014 IEEE/RAS International Conference on Humanoid Robots, Seiten 930-937. IEEE/RAS. 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, Spanien. ISBN 978-1-4799-7173-2 file

  Lakatos, Dominic und Seidel, Daniel und Friedl, Werner und Albu-Schäffer, Alin (2015) Targeted Jumping of Compliantly Actuated Hoppers based on Discrete Planning and Switching Control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Seiten 5802-5808. IEEE. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 28. Sept. - 02. Okt. 2015, Hamburg, Deutschland. file

  Le-Tien, Luc und Albu-Schäffer, Alin (2014) Improving Tracking Accuracy of a MIMO State Feedback Controller for Elastic Joint Robots. In: IEEE Conference on Decision and Control (ISSN: 0733-8716), Seiten 4548-4553. IEEE Conference on Decision and Control, 13. Dec. - 17. Dec. 2014, Los Angeles, USA. ISBN 978-1-4673-6088-3/14/$31.00 ©2014 IEEE ISSN 0733-8716

  Le-Tien, Luc und Alin, Albu-Schäffer (2016) Decoupling and Tracking Control for Elastic Joint Robots with Coupled Joint Structure. Advanced Robotics, Seiten 1-20. DOI: 10.1080/01691864.2016.1264886 ISSN 0169-1864 Volltext nicht frei. file

M

  Maier, Moritz und Kondak, Konstantin (2015) Landing of VTOL UAVs Using a Stationary Robot Manipulator: A New Approach for Coordinated Control. In: IEEE Conference on Decision and Control, Seiten 1497-1502. IEEE Control Systems Society (CSS). IEEE Conference on Decision and Control (CDC), 15-18 Dec 2015, Osaka, Japan. ISBN 978-1-4799-7885-4 file

  Maier, Moritz und Kondak, Konstantin und Oeschger, André (2015) Robot-assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-space Control Approaches. IEEE Robotics and Automation Letters, 1 (1), Seiten 1-8. IEEE Robotics and Automation Society. DOI: 10.1109/LRA.2015.2502920 ISSN 2377-3766 file

  Maier, Moritz und Oeschger, André und Kondak, Konstantin (2016) Robot-assisted Landing of VTOL UAVs: Design and Comparison of Coupled and Decoupling Linear State-space Control Approaches. In: IEEE International Conference on Robotics and Automation ICRA. IEEE Robotics and Automation Society. International Conference on Robotics and Automation (ICRA), 16-21 May 2016, Stockholm, Sweden. Volltext nicht frei. file

  Mansfeld, Nico und Haddadin, Sami (2014) Braking elastic joint robots in near-minimum time. International Workshop on Human-Friendly Robotics, 23.-24. Oktober 2014, Pontedera, Italien. file

  Mansfeld, Nico und Haddadin, Sami (2014) Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Seiten 3904-3911. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 14.-18. Sept. 2014, Chicago IL, USA. DOI: 10.1109/IROS.2014.6943111

  Mansfeld, Nico und Haddadin, Sami (2013) Collision Analysis and Safety Evaluation using a Collision Model for Blunt Robot-Human Impacts. In: International Workshop on Human-Friendly Robotics. International Workshop on Human-Friendly Robotics, 25.-26. Sept. 2013, Rom, Italien. file

  Mansfeld, Nico und Haddadin, Sami (2015) A Comparison of Braking Strategies for Elastic Joint Robots. In: IEEE International Conference on Robotics and Automation (ICRA). International Conference on Robotics and Automation, 26.-30. Mai 205, Seattle, USA. file

  Mansfeld, Nico und Ott, Christian und Haddadin, Sami (2016) Maximal Input Limits for Independent SISO Control in Modal Space Under Consideration of Actuator Constraints. In: American Control Conference (ACC). American Control Conference, 06.-08. Jun. 2016, Boston MA, USA. Volltext nicht frei. file

  Matzkowitz, Martin (2015) Positions- und Drehmomentregelung eines elastisch angetriebenen Roboterbeingelenkes. Diplomarbeit. DLR-Interner Bericht. DLR-IB 572-2015/12. Volltext nicht frei. file

  Meiner, Matthias (2014) Cartesian Stiffness Optimization for Robots with Variable Stiffness Joints: Analysis and Control. Diplomarbeit. DLR-Interner Bericht. 572-2014/03, 104 S. Volltext nicht frei. file

  Mesesan, George (2016) Dynamic Multi-contact Transitions for Humanoid Robots. Diplomarbeit. DLR-Interner Bericht. DLR-IB-RM-OP-2016-209. Volltext nicht frei. file

  Monje, Concepcion Alicia und Balaguer, Carlos und Deutschmann, Bastian und Ott, Christian (2016) FRACTIONAL ORDER CONTROL OF A SOFT ROBOTIC SYSTEM: Proceedings of the 19th International Conference on CLAWAR 2016. In: Advances in Cooperative Robotics Advances in Cooperative Robotics. World Scientific. Seiten 771-779. Volltext nicht frei. file

  Muskardin, Tin und Balmer, Georg und Persson, Linnea und Wlach, Sven und Laiacker, Maximilian und Ollero, Anibal und Kondak, Konstantin (2016) A Novel Landing System to Increase Payload Capacity and Operational Availability of High Altitude Long Endurance UAV. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS). The 2016 International Conference on Unmanned Aircraft Systems, 07.-10. Jun 2016, Arlington, VA, USA. Volltext nicht frei. file

  Muskardin, Tin und Balmer, Georg Robert und Wlach, Sven und Kondak, Konstantin und Laiacker, Maximilian und Ollero, Anibal (2016) Landing of a Fixed-wing UAV on a Mobile Ground Vehicle. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation 2016, 16.-21. Mai 2016, Stockholm, Schweden. Volltext nicht frei. file

O

  Oeschger, André (2015) Nichtlineare Modellierung und lineare Regelung eines neuartigen robotischen Landesystems für Drehflügler-UAVs. Diplomarbeit. DLR-Interner Bericht. DLR-IB 572-2015/25, 96 S. file

  Ogawa, Yusuke und Ott, Christian und Venture, Gentiane (2014) Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces. In: IEEE-RAS International Conference on Humanoid Robots 2014. 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, Spanien. Volltext nicht online.

  Ott, Christian (2014) Towards bipedal locomotion using energy based limit cycle control. In: Dynamic Walking 2014. Dynamic Walking 2014, 10.-13. Juni 2014, Zürich. Volltext nicht online.

  Ott, Christian (2014) Recent results with the torque controlled humanoid robot TORO. French-German-Japanese Conference on Humanoid and Legged Robots (HLR 2014), 12.-14. Mai 2014, Heidelberg, Deutschland. Volltext nicht online.

  Ott, Christian (2014) Torque based whole body motion control for humanoid robots. Full-day Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, USA. Volltext nicht online.

  Ott, Christian (2014) Semi-definite Lyapunov functions as a tool for stability analysis of redundant robots. Full-day Workshop at Humanoids 2014, Madrid, Spanien. Volltext nicht online.

  Ott, Christian (2014) Development and Control of Compliant Humanoid Robots at DLR. Half Day Workshop at Humanoids 2014, Madrid, Spanien. Volltext nicht online.

  Ott, Christian (2014) Development and Control of Compliant Humanoid Robots at DLR. Joint Academies’ Symposium of the German National Academy of Sciences Leopoldina and the Korean Academy of Science and Technology (KAST), 27.-28. Oktober 2014, München, Deutschland. Volltext nicht online.

  Ott, Christian (2014) Compliant Humanoid Robots Developed at DLR. LIRMM HRP-4 Inaugural Workshop, 6.3.-7.3. 2014, Montpellier, Frankreich. Volltext nicht online.

  Ott, Christian (2014) Torque based whole body motion control for humanoid robots. National Journeys on Humanoid Robotics, Paris, Frankreich. Volltext nicht online.

  Ott, Christian und Dietrich, Alexander und Albu-Schäffer, Alin (2015) Prioritized Multi-Task Compliance Control of Redundant Manipulators. Automatica, 53, Seiten 416-423. Elsevier. DOI: 10.1016/j.automatica.2015.01.015 ISSN 0005-1098 Volltext nicht online.

  Ott, Christian und Dietrich, Alexander und Leidner, Daniel und Werner, Alexander und Englsberger, Johannes und Henze, Bernd und Wolf, Sebastian und Chalon, Maxime und Friedl, Werner und Beyer, Alexander und Eiberger, Oliver und Albu-Schäffer, Alin (2015) From torque-controlled to intrinsically compliant humanoid robots. Dynamic Systems & Control, 3 (2), Seiten 7-11. Volltext nicht online.

  Ott, Christian und Dietrich, Alexander und Roa, Maximo A. (2014) Torque based multi-task and balancing control for humanoid robots. In: The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2014). The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2014), 12.-15. November 2014, Kuala Lumpur, Malaysia. Volltext nicht frei. file

  Ott, Christian und Henze, Bernd und Hettich, Georg und Seyde, Tim Niklas und Roa, Maximo A. und Lippi, Vittorio und Mergner, Thomas (2016) Good Posture, Good Balance: Comparison of bio-inspired and model-based approaches for posture control of humanoid robots. IEEE Robotics & Automation Magazine, 23 (1), Seiten 22-33. DOI: 10.1109/MRA.2015.2507098 ISSN 1070-9932 Volltext nicht online.

  Ott, Christian und Henze, Bernd und Lee, Dongheui (2013) Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 3.-8. Nov. 2013, Tokyo/Japan. Volltext nicht online.

  Ott, Christian und Mukherjee, Ranjan und Nakamura, Yoshihiko (2014) A Hybrid System Framework for Unified Impedance and Admittance Control. Journal of Intelligent & Robotic Systems. Springer. DOI: 10.1007/s10846-014-0082-1 ISSN 0921-0296 Volltext nicht online.

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  Panzirsch, Michael und Artigas Esclusa, Jordi und Ferre, Manuel (2016) A modular passivity framework for multilateral teleoperation applications. RoboCity 16, 26.-27. Mai 2016, Madrid, Spanien. file

  Panzirsch, Michael und Hulin, Thomas und Artigas Esclusa, Jordi und Ott, Christian und Ferre, Manuel (2016) Integrating Measured Force Feedback in Passive Multilateral Teleoperation. In: Lecture Notes in Computer Science. Springer Berlin Heidelberg. EuroHaptics 2016, 4.-7. Juli 2016, London, England. Volltext nicht frei. file

  Panzirsch, Michael und Radhakrishna Balachandran, Ribin und Artigas, Jordi (2015) Cartesian Task Allocation for Cooperative, Multilateral Teleoperation under Time Delay. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation (ICRA), 26th-30th May 2015, Seattle,USA. file

  Panzirsch, Michael und Weber, Bernhard (2015) A 3DoF-Sidestick User Interface for Four Wheel Independent Steering Vehicles. In: IEEE Intelligent Vehicles Symposium 2015. IEEE Intelligent Vehicles Symposium 2015, 28. Jun. - 01. Jul. 2015, Seoul, Korea. Volltext nicht frei. file

  Perrin, Nicholas und Ott, Christian und Englsberger, Johannes und Stasse, Olivier und Lamiraux, Florent und Caldwell, Darwin (2016) Continuous Legged Locomotion Planning. IEEE Transactions on Robotics. DOI: 10.1109/TRO.2016.2623329 ISSN 1552-3098 Volltext nicht online.

  Persson, Linnea (2016) Cooperative Control for Landing a Fixed-Wing Unmanned Aerial Vehicle on a Ground Vehicle. Masterarbeit. DLR-Interner Bericht. DLR-IB-RM-OP-2016-347, 88 S. Volltext nicht frei. file

  Petit, Florian und Dietrich, Alexander und Albu-Schäffer, Alin (2015) Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots. IEEE Robotics & Automation Magazine, 22 (4), Seiten 37-51. IEEE. DOI: 10.1109/MRA.2015.2476576 ISSN 1070-9932 Volltext nicht frei. file

  Petit, Florian und Ott, Christian und Albu-Schäffer, Alin (2014) A Model-Free Approach to Vibration Suppression for Intrinsically Elastic Robots. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 2176-2182. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong. Volltext nicht online.

  Petric, Tadej und Zlajpah, Leon und Garofalo, Gianluca und Ott, Christian (2013) Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives. In: 22nd International Workshop on Robotics in Alpe-Adria-Danube Region. 22nd International Workshop on Robotics in Alpe-Adria-Danube Region, 11-13 Sep 2013, Portorož, Slovenia. Volltext nicht online.

  Petric, Tadej und Zlajpah, Leon und Garofalo, Gianluca und Ott, Christian (2014) Walking with Adaptive Oscillator and Dynamic Movement Primitives. International Journal of Mechanics and Control, 15 (1), Seiten 3-10. ISSN 1590-8844 Volltext nicht online.

  Pham, Viet Duc (2015) Konstruktion, Analyse und Inbetriebnahme eines Gelenks zur rotatorischen Entkopplung für ein UAV-Helikopter-Landesystem. Bachelorarbeit. DLR-Interner Bericht. DLR-IB 572-2015/04, 60 S. file

  Ploeger, Kai Fabian (2016) Generierung von Laufmustern für einen elastisch angetriebenen Vierbeiner mit modal abgestimmten Beinen. Bachelorarbeit. DLR-Interner Bericht. DLR-IB-RM-OP-2016-329, 41 S. (nicht veröffentlicht) Volltext nicht frei. file

R

  Rackl, Wolfgang und Lampariello, Roberto (2014) Parameter Identification of Free-Floating Robots with Flexible Appendages and Fuel Sloshing. In: 6th International Conference on Modeling, Identification and Control - ICMIC 2014. International Conference of Modelling, Identification and Control ICMIC, 3.-5. Dez. 2014, Melbourne, Australien. file

  Rajendran, Rajesh (2013) Estimation of Underactuated Degrees of Freedom in Humanoid Robots. Masterarbeit. sonstiger Bericht. Volltext nicht online.

  Reinecke, Jens und Deutschmann, Bastian und Fehrenbach, David (2016) A Structurally Flexible Humanoid Spine based on a Tendon-Driven Elastic Continuum. In: IEEE International Conference on Robotics and Automation ICRA, Seiten 4714-4721. IEEE. IEEE International Conference on Robotics and Automation, 16.05.2016-21.05.2016, Stockholm, Sweden. DOI: 10.1109/ICRA.2016.7487672 Volltext nicht online. file

  Riecke, Cornelia und Artigas, Jordi und Balachandran, Ribin und Bayer, Ralph und Beyer, Alexander und Brunner, Bernhard und Buchner, Johann und Gumpert, Thomas und Gruber, Robin und Hacker, Franz und Landzettel, Klaus und Plank, Georg und Schätzle, Simon und Sedlmayr, Hans-Jürgen und Seitz, Nikolaus und Steinmetz, B-M. und Stelzer, Martin und Vogel, Jörg und Weber, Bernhard und Willberg, Bertram und Albu-Schäffer, Alin Olimpiu (2016) KONTUR-2 MISSION: THE DLR FORCE FEEDBACK JOYSTICK FOR SPACE TELEMANIPULATION FROM THE ISS. The International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016), Beijing, China. Volltext nicht frei. filefile

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  Schmidt, Phillip und Artigas, Jordi und De Stefano, Marco und Balachandran, Ribin und Ott, Christian (2015) Increasing the Performance of Torque-Based Visual Servoing by Applying Time Domain Passivity. 11th IFAC Symposium on Robot Control, Salvador, Brasilien. Volltext nicht online.

  Standfest, Bastian (2016) Analysis of Cartesian Force Sensitivity for Joint Torque Controlled Robots. Masterarbeit. DLR-Interner Bericht. DLR-IB-RM-OP-2016-184, 100 S. Volltext nicht frei. file

T

  Tomić, Teodor (2014) Evaluation of Acceleration-Based Disturbance Observation for Multicopter Control. In: 13th European Control Conference (ECC 2014), Seiten 2937-2944. 13th European Control Conference (ECC), 24-27 Jun 2014, Strasbourg, France.

  Tomić, Teodor und Haddadin, Sami (2014) A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Seiten 4197-4204. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 14-18 Sep 2014, Chicago, IL, USA. DOI: 10.1109/IROS.2014.6943154 file

  Tomić, Teodor und Haddadin, Sami (2015) Simultaneous Estimation of Aerodynamic and Contact Forces in Flying Robots: Applications to Metric Wind Estimation and Collision Detection. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE/RSJ International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, WA, USA. Volltext nicht frei. file

  Tomić, Teodor und Maier, Moritz und Haddadin, Sami (2014) Learning Quadrotor Maneuvers From Optimal Control and Generalizing in Real-Time. In: IEEE International Conference on Robotics and Automation (ICRA), Seiten 1747-1754. 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), 31 May - 7 June 2014, Hong Kong, China.

  Tomić, Teodor und Schmid, Korbinian und Lutz, Philipp und Mathers, Andrew und Haddadin, Sami (2016) The Flying Anemometer: Unified Estimation of Wind Velocity from Aerodynamic Power and Wrenches. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Seiten 1637-1644. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 9-14 Oct 2016, Daejeon, Korea. file

W

  Werner, Alexander und Lampariello, Roberto und Ott, Christian (2014) Trajectory Optimization for Walking Robots with Series Elastic Actuators. In: IEEE Conference on Decision and Control (ISSN: 0733-8716). 53rd IEEE Conference on Decision and Control, 15-17 Dec 2014, Los Angeles, California, USA. ISSN 0733-8716 file

  Werner, Alexander und Trautmann, Dietrich und Lee, Dongheui und Lampariello, Roberto (2015) Generalization of Optimal Motion Trajectories for Bipedal Walking. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. IEEE/RSJ International Conference on Intelligent Robots and Systems, 28 Sep - 02 Oct 2015, Hamburg, Germany. file

  Wimböck, Thomas (2013) Controllers for Compliant Two-Handed Dexterous Manipulation. Dissertation. DLR-Interner Bericht. 572-2013/30, 252 S. Shaker Verlag GmbH. Volltext nicht frei. file

  Wu, Xuwei (2016) Passivation of a Hierarchical Whole-Body Controller for Humanoid Robots. Masterarbeit. DLR-Interner Bericht. DLR-IB-RM-OP-2016-245, 67 S. Volltext nicht frei. file

Ö

  Özparpucu, Mehmet Can und Alin, Albu-Schäffer (2014) Optimal Control Strategies for Maximizing the Performance of Variable Stiffness Joints with Nonlinear Springs. In: IEEE Conference on Decision and Control (ISSN: 0733-8716). 53rd IEEE Conference on Decision and Control (CDC 2014), Los Angeles, California, USA. ISSN 0733-8716 Volltext nicht frei. file

  Özparpucu, Mehmet Can und Haddadin, Sami (2013) Optimal control for maximizing link velocity of visco-elastic joints. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, Tokyo, Japan. Volltext nicht online.

  Özparpucu, Mehmet Can und Haddadin, Sami (2014) Optimal control of elastic joints with variable damping. In: Control Conference (ECC), 2014 European. Control Conference (ECC), 2014 European, Straßburg, Frankreich. Volltext nicht frei. file

  Özparpucu, Mehmet Can und Haddadin, Sami und Alin, Albu-Schäffer (2014) Optimal Control of Variable Stiffness Actuators with Nonlinear Springs. In: 19th IFAC World Congress, Seiten 8487-8495. IFAC 2014 (The 19th World Congress of the International Federation of Automatic Control), 24.-29. Aug. 2014, Cape Town, South Africa. DOI: 10.3182/20140824-6-ZA-1003.01193 Volltext nicht frei. file

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