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)