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:
- Cartesian impedance control for variable stiffness robots
- Please contact me!
Publications
- Dominic Lakatos, Florian Petit, and Alin Albu-Schäffer: Nonlinear Oscillations for Cyclic Movements in Variable Impedance Actuated Robotic Arms, IEEE Int. Conf. on Robotics and Automation (ICRA 2013)
- Dominic Lakatos, Gianluca Garofalo, Florian Petit, Christian Ott, and Alin Albu-Schäffer: Modal Limit Cycle Control for Variable Stiffness Actuated Robots, IEEE Int. Conf. on Robotics and Automation (ICRA 2013)
- D. J. Braun, F. Petit, F. Huber, S. Haddadin, P. van der Smagt, A. Albu-Schaffer and S. Vijayakumar, Optimal Torque and Stiffness Control in Compliantly Actuated Robots, IEEE Transactions on Robotics, 2013 - conditionally accepted.
- Alin Albu-Schäffer, Christian Ott, and Florian Petit: Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems, International IFAC Symposium on Robot Control (SYROCO 2012)
- Florian Petit, Dominic Lakatos, Werner Friedl, Alin Albu-Schäffer: Dynamic Trajectory Generation: An Eigenmode based Approach for Serial Elastic Actuated Robots, International IFAC Symposium on Robot Control (SYROCO 2012)
- Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel Catalano, Gowrishankar Ganesh, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos Tsagarakis, Michal Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf: Variable Impedance Actuators: Moving the Robots of Tomorrow: International Conference on Intelligent Robots and Systems (IROS2012), Vilamoura, Protugal, 2012, Best Jubilee Video Award
- 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, International Conference on
Intelligent Robots and Systems (IROS2012), Vilamoura, Protugal, 2012, Best Video Award - 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, International Conference on Intelligent Robots and Systems (IROS2012)
- 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.
Students
- Andreas Daasch (Master, current)
- Reinhard Neureiter (Master, former)
- Dominic Lakatos (Master, former)
Hobbies
- Sailing - My boat is a RS500 skiff
- Baseball
- Modern Art
- Piano