DLR Logo
Thursday, 27 01 2011
 
Fontsize: [-] Text [+]
Department of Robotic Systems

Dipl.-Ing. Florian Petit

Institute of Robotics and Mechatronics
German Aerospace Center (DLR)
P.O. Box 1116
82230 Wessling
Germany Phone: +49 8153 28 2177
Fax: +49 8153 28 1134
Florian.Petit(at)dlr.de

 


News


The Summer School on Impedance was a huge success. Please visit the website for slides and videos of the talks.

Demonstration Chair at the Summer School on Impedance, organized by DLR.

 


Curriculum Vitae



Fields of interest


  • Robot control
  • Variable impedance actuation
  • Nonlinear control theory
  • Dynamic systems

 


Projects involved


    • VIACTORS: European STREP Project (FP7): Variable Impedance Actuation Systems Embodying Advanced Interaction Behaviours
    • PHRIENDS: European STREP Project (FP6): Physical Human Robot Interaction: Dependability and Safety

     


    Open topics for Bachelor/Diploma/Master thesis

     


    We always provide topics for thesis projects. Also internships (3+ months) are welcome. For further information please contact me. A selection of topics is given here:

    • Singular Perturbation Regelung für Variable-Steifigkeits Gelenke
    • Eigenmoden basierte Trajektoriengenerierung für Dynamische Systeme
    • Linear Quadratisch Optimale Zustandsrückführung (LQR) für Variable-Steifigkeits Gelenke
    • Please contact me!

     


    Publications


    • Dominic Lakatos, Florian Petit and Patrick van der Smagt: Conditioning vs. Excitation Time for Estimating Impedance Parameters of the Human Arm, IEEE-RAS International Conference on Humanoid Robots 2011
    • Florian Petit, Alin Albu-Schäffer: Cartesian Impedance Control For A Variable Stiffness Robot Arm, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
    • Werner Friedl, Hannes Hoeppner, Florian Petit and Gerd Hirzinger: Wrist Forearm Rotation of the DLR Hand Arm System: Mechanical Design, Shape Analysis and Experimental Validation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
    • Florian Petit, Alin Albu-Schäffer: State Feedback Damping Control For A Multi DOF Variable Stiffness Robot Arm, IEEE Int. Conf. on Robotics and Automation (ICRA 2011)
    • M. Grebenstein, A. Albu-Schäffer, T. Bahls, M. Chalon, O. Eiberger, W. Friedl, R. Gruber, U. Hagn, R. Haslinger, H. Höppner, S. Jörg, M. Nickl, A. Nothhelfer, F. Petit, B. Pleintinger, J. Reil, N. Seitz, T. Wimböck, S. Wolf, T. Wüsthoff, and G. Hirzinger: The DLR Hand Arm System, IEEE Int. Conf. on Robotics and Automation (ICRA 2011)
    • Florian Petit, Maxime Chalon, Werner Friedl, Markus Grebenstein, Alin Albu-Schäffer and Gerd Hirzinger: Bidirectional Antagonistic Variable Stiffness Actuation: Analysis, Design & Implementation, IEEE Int. Conf. on Robotics and Automation (ICRA 2010), Anchorage, Alaska
    • Alin Albu-Schäffer, S. Wolf, O. Eiberger, and S. Haddadin, F. Petit, M. Chalon: Dynamic Modelling and Control of Variable Stiffness Actuators, IEEE Int. Conf. on Robotics and Automation (ICRA 2010), Anchorage, Alaska
    • M. S. Müller, L. Hoffmann, T. Bodendorfer, F. Hirth, F. Petit, M. P. Plattner, T. C. Buck, A. W. Koch: Fiber Bragg Grating Interrogation based on monolithic tunable laser diode. In: IEEE Transactions on Instrumentation and Measurement, 2009.
    • C. David Remy, Keith Buffinton, Florian Petit, and Roland Siegwart: Passive dynamic walking with quadrupeds, Poster at the Workshop at the "Robotics: Science and Systems" Conference RSS2008, Zurich, Switzerland.


    Hobbies


    • Sailing - My boat is a RS500 skiff
    • Baseball
    • Modern Art
    • Piano


    Students


    • Reinhard Neureiter (Master, former)
    • Dominic Lakatos (Master, former)


    Copyright © 2011 German Aerospace Center (DLR). All rights reserved.