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Dipl.-Ing. (Univ.) Alexander Dietrich
Institute of Robotics and Mechatronics
DLR - German Aerospace Center
Muenchner Str. 20
82234 Wessling-Oberpfaffenhofen
Germany
Tel. +49-8153-28-1181
Alexander.Dietrich(at)dlr.de
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Research
- Dynamic Mobile Manipulation
- Compliant Whole-Body Control of Humanoid Robots
- Redundancy Resolution for Multi-DOF Robots
- Impedance and Admittance
- Self-Collision Avoidance for Humanoid Robots
- Control of Nonholonomic, Omnidirectional Wheeled Mobile Platforms
Publications
Journal Papers
[J2] Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, and Gerd Hirzinger, "Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy", IEEE Transactions on Robotics, vol. 28, no. 6, pp. 1278-1293, December 2012. [ PDF IEEEXplore ]
[J1] Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, and Gerd Hirzinger, "Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom", IEEE Robotics & Automation Magazine: Special Issue on Mobile Manipulation, vol. 19, no. 2, pp. 20-33, June 2012. [ PDF IEEEXplore ]
Conference Papers
[C6] Alexander Dietrich, Alin Albu-Schäffer, and Gerd Hirzinger, "On Continuous Null Space Projections for Torque-Based, Hierarchical, Multi-Objective Manipulation", in Proc. of the 2012 IEEE International Conference on Robotics and Automation, St. Paul, USA, May 2012, pp. 2978-2985. [ PDF IEEEXplore ]
[C5] Berthold Bäuml, Oliver Birbach, Thomas Wimböck, Udo Frese, Alexander Dietrich, and Gerd Hirzinger, "Catching Flying Balls with a Mobile Humanoid: System Overview and Design Considerations", in Proc. of the 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, October 2011, pp. 513-520. [ PDF IEEEXplore ]
[C4] Alexander Dietrich, Thomas Wimböck, and Alin Albu-Schäffer, "Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot via Impedance Control Laws", in Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, USA, September 2011, pp. 3199-3206. [ PDF MP4 YouTube IEEEXplore ]
[C3] Berthold Bäuml, Florian Schmidt, Thomas Wimböck, Oliver Birbach, Alexander Dietrich, Matthias Fuchs, Werner Friedl, Udo Frese, Christoph Borst, Markus Grebenstein, Oliver Eiberger, and Gerd Hirzinger, "Catching Flying Balls and Preparing Coffee: Humanoid Rollin' Justin Performs Dynamic and Sensitive Tasks", in Proc. of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011, pp. 3443-3444. Finalist for Best Video Award 2011. [ PDF MP4 YouTube IEEEXplore ]
[C2] Alexander Dietrich, Thomas Wimböck, Holger Täubig, Alin Albu-Schäffer, and Gerd Hirzinger, "Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids", in Proc. of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011, pp. 3455-3462. [ PDF MP4 YouTube IEEEXplore ]
[C1] Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, and Gerd Hirzinger, "Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint", in Proc. of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011, pp. 6136-6142. [ PDF MP4 YouTube IEEEXplore ]
The provided manuscripts are draft versions. The files are only for personal use! *
Talks
- November 15, 2012, Workshop at INRIA/CNRS in Grenoble/France: "Torque-Based Whole-Body Control of Humanoid Robots"
- May 16, 2012, ICRA in St. Paul/USA: [C6]
- December 9, 2011, IROS Day in Oberpfaffenhofen/Germany: [C4]
- June 29, 2011, ICRA Day in Oberpfaffenhofen/Germany: [C1] & [C2]
- May 12, 2011, ICRA in Shanghai/China: [C1]
- May 11, 2011, ICRA in Shanghai/China: [C2]
Supervised Students
- Melanie Kimmel, Master thesis (since 11/2012)
- Peter Rausch, Master thesis (since 11/2012)
In the Media
2011
- international press: International Business Times, Yahoo News, CBS News, DailyMirror.lk, IBN live, reuters.uk, A la carta (spanische "Tagesschau"), The Baltimore Sun, la Repubblica.it, daylife.com, forum.com.pl, Montesquieu-Volvestre, rediff.com, fenainfo.org.br, ireceportal.com.br, robotnyheter.se, lapatilla.com, robotnews.tk, cassilandia.tv
- national press: spiegel.de, stern.de, focus.de, welt.de, zeit.de, bild.de, handelsblatt.com, wiwo.de, gmx.de, web.de
- ICRA2011 video: YouTube (>350.000 clicks), engadget, IEEE Spectrum, DiscoveryNews, New Scientist TV, 20minutes.fr, Hizook, Wired (playbook), cntv, golem.de, computerworld, the engineer
2010
* Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.