Thomas Wimböck
Fields of Interest:
- Control Algorithms for Robotic Hands
- Coordinated Hand-Arm Control
- Two-Handed Manipulation
- Variable Stiffness Control
Projects:
Publications:
T. Wimböck, Ch. Ott, A. Albu-Schäffer, and G. Hirzinger: Comparison of object-level grasp controllers for dynamic dexterous manipulation, The International Journal of Robotics Research, 12 September 2011, 10.1177/0278364911416526
http://ijr.sagepub.com/cgi/content/abstract/0278364911416526v1
D. Prattichizzo, M. Malvezzi, M. Aggravi, T. Wimböck: Object motion-decoupled internal force control for a compliant multifingered hand, ICRA, To appear, 2012, St. Paul, Minnesota/USA
Z. Chen, N.Y. Lii, T. Wimböck, S. Fan, H. Liu, Experimental Evaluation of Cartesian and Joint Impedance Control with Adaptive Friction Compensation for the Dexterous Robot Hand DLR-HIT II, International Journal of Humanoid Robotics (IJHR), Vol. 8, Issue 4, pp. 649-671, doi: 10.1142/S0219843611002605
B. Bäuml, O. Birbach, T. Wimböck, U. Frese, A. Dietrich, and G. Hirzinger: Catching Flying Balls with a Mobile Humanoid: System Overview and Design Considerations, In Proc. IEEE International Conference on Humanoid Robots, 2011, Bled/Slovenia
T. Wimböck, B. Jahn, G. Hirzinger, Synergy Level Impedance Control for Multifingered Hands, IROS 2011, San Francisco/USA
A. Dietrich, T. Wimböck, A. Albu-Schäffer, Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Via Impedance Control Laws, IROS 2011, San Francisco/USA
M. Chalon, W. Friedl, J. Reinecke, T. Wimböck, A. Albu-Schäffer, Impedance Control of a Non-Linearly Coupled Tendon Driven Thumb, IROS 2011, San Francisco/USA
T. Wimboeck, M. Grebenstein, M. Chalon, W. Friedl, Ch. Ott, A. Albu-Schaeffer and Gerd Hirzinger. From Actively Impedance Controlled Light-weight Robot Hands to Intrinsically Compliant Systems, ICRA 2011 Workshop on Manipulation under Uncertainty, Shanghai/China
A. Dietrich, T. Wimböck, A. Albu-Schäffer, and G. Hirzinger, Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint, 2011 IEEE International Conference on Robotics and Automation, Shanghai/China.
A. Dietrich, T. Wimböck, H. Täubig, A. Albu-Schäffer, and G. Hirzinger, Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids, 2011 IEEE International Conference on Robotics and Automation, Shanghai/China.
A. Wedler, M. Chalon, A. Baumann, W. Bertleff, A. Beyer, J. Butterfass, M. Grebenstein, R. Gruber, F. Hacker, K. Jöhl, E. Krämer, K. Landzettel, M. Maier, H.-J. Sedlmayr, N. Seitz, F. Wappler, B. Willberg, T. Wimboeck, F. Didot, G. Hirzinger, Dexhand : a Space Qualifyable Multi‐Fingered Robotic Hand, 11th Symposium on Advanced Space Technologies in Robotics and Automation, 2011
M. Grebenstein A. Albu-Schäffer, T. Bahls, M. Chalon, O. Eiberger, W. Friedl, R. Gruber, S. Haddadin, U. Hagn, R. Haslinger, H. Höppner, S. Jörg, M. Nickl, A. Nothhelfer, F. Petit, J. Reill, N. Seitz, T. Wimböck, S. Wolf, T. Wüsthoff, and G. Hirzinger, The DLR Hand Arm System, 2011 IEEE International Conference on Robotics and Automation, Shanghai/China.
M. Chalon, A. Wedler, A. Baumann, W. Bertleff, A. Beyer, J. Butterfass, M. Grebenstein, R. Gruber, F. Hacker, E. Krämer, K. Landzettel, M. Maier, H.-J. Sedlmayr, N. Seitz, F. Wappler, B. Willberg, T. Wimboeck, F. Didot, G. Hirzinger, Dexhand : A Space Qualfied Multi-Fingered Robotic Hand, 2011 IEEE International Conference on Robotics and Automation, Shanghai/China. (ICRA Best Paper Award Finalist)
T. Wimböck, Ch. Ott, G. Hirzinger. Immersion and Invariance Control for an Antagonistic Joint with Nonlinear Mechanical Stiffness, 49th IEEE Conference on Decision and Control, 2010, Atlanta/USA
T. Wimböck, Ch. Borst, A. Albu-Schäffer, Ch. Ott, F. Schmidt, M. Fuchs, W. Friedl, O. Eiberger, A. Baumann, A. Beyer, G. Hirzinger. DLRs zweihaendiger Humanoide Justin: Systementwurf, Integration und Regelung, At-Automatisierungstechnik, 2010
A. Albu-Schäffer, O. Eiberger, M. Grebenstein, S. Haddadin, Ch. Ott, T. Wimböck, S. Wolf, Gerd Hirzinger, Soft Robotics: From Torque Feedback Controlled Lightweight Robots to Intrinsically Compliant Systems, Invited Plenary Talk and paper at the International Conference on Control, Automation and Systems (ICCAS 2010) , Seoul, Korea, 2010
T. Wimböck, B. Baeuml, J. Trinkle, G. Hirzinger: Experiments on Grasp Acquisition. Workshop on Performance Evaluation and Benchmarking for Intelligent Robots and Systems with Cognitive and Autonomy Capabilities, IROS 2010, Taipeh/Taiwan
T. Wimböck: Considerations of Grasp Dynamics, Workshop on Grasp Acquisition: How to Realize Good Grasps, RSS2010, Zaragoza/Spain
B. Baeuml, T. Wimböck, G. Hirzinger: Kinematically Optimal Catching a Flying Ball with a Hand-Arm-System, IROS 2010, Taipeh/Taiwan
Zhaopeng Chen; Lii, N.Y.; Wimboeck, T.; Shaowei Fan; Minghe Jin; Borst, C.H.; Hong Liu: Experimental study on impedance control for the five-finger dexterous robot hand DLR-HIT II, IROS 2010, pp.5867-5874, 18-22 Oct. 2010, Taipeh, Taiwan
M. Chalon, M. Grebenstein, T. Wimböck, G. Hirzinger: The thumb : guidelines for a robotic design IROS 2010, Taipeh/Taiwan
M. Chalon, T. Wimböck, G. Hirzinger: Torque and Workspace Analysis for Flexible Tendon Driven Mechanisms, ICRA 2010, Anchorage/USA
T. Wimböck, D. Nenchev, A. Albu-Schäffer and G. Hirzinger: Experimental Study on Dynamic Reactionless Motions with DLR’s
Humanoid Robot Justin, IROS 2009, St. Louis/USA, pp. 5481-5486.
A. Albu-Schäffer, O. Eiberger, M. Fuchs, M. Grebenstein, S. Haddadin, Ch. Ott, A. Stemmer, T. Wimböck, S. Wolf
and G. Hirzinger: Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance, International Symposium on Robotics Research (ISRR2009), Lucerne/Switzerland, 2009
M. Görner, T. Wimböck, G. Hirzinger: The DLR Crawler: evaluation of gaits and control of an actively compliant six-legged walking robot, Industrial Robot: An International Journal, Vol. 36, No. 4., pp. 344-351, 2009.
T. Wimböck: Die DLR Hand II - mechatronisches Konzept und Beispielanwendungen, Seminarbericht 93 Handhabungstechnik, Herbert Utz Verlag Wissenschaft, 2009
M. Fuchs, Ch. Borst, P. Robuffo-Giordano, A. Baumann, E. Kraemer, J. Langwald, R. Gruber, N. Seitz, G. Plank, K. Kunze, R. Burger, F. Schmidt, T. Wimböck, and G. Hirzinger: Rollin' Justin - Design considerations and realization of a mobile platform for a humanoid upper body, IEEE International Conference on Robotics and Automation, 2009, Kobe/Japan.
T. Wimböck, Ch. Ott, A. Albu-Schäffer, A. Kugi, and G. Hirzinger: Impedance Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling, IEEE/RSJ International Conference on Intelligent Robots and Systems 2008, Nice/France.
M. Görner, T. Wimböck, A. Baumann, M. Fuchs, T. Bahls, M. Grebenstein, Ch. Borst, J. Butterfass, G. Hirzinger, The DLR-Crawler: A Testbed for Actively Compliant Hexapod Walking Based on the Fingers of DLR-Hand II, IEEE/RSJ International Conference on Intelligent Robots and Systems 2008, Nice/France, pp. 1525 - 1531.
T. Wimböck, Ch. Ott, and G. Hirzinger, Analysis and Experimental Evaluation of the Intrinsically Passive Controller (IPC) for Multifingered Hands, IEEE International Conference on Robotics and Automation, 2008, Pasadena/USA.
A. Albu-Schäffer, O. Eiberger, M. Grebenstein, S. Haddadin, Ch. Ott, T. Wimböck, S. Wolf, and G. Hirzinger, Soft Robotics: From torque feedback controlled light-weight robots to intrinsically compliant systems, Robotics and Automation Magazine: Special Issue on Adaptable Compliance / Variable Stiffness for Robotic Applications, Vol. 15, No. 3, 2008, pp. 20-30.
Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, and Gerd Hirzinger, The DLR Lightweight Robot - Lightweight Design and "Soft Robotics" Control Concepts for Robots in Human Environments, Industrial Robot Journal, Vol. 34, No. 5, 2007, (Emerald Best Paper Award)
T. Wimböck, Ch. Ott, and G. Hirzinger, Impedance Behaviors for Two-handed Manipulation: Design and Experiments, IEEE International Conference on Robotics and Automation, 2007, Roma/Italy.
G. Palli, C. Melchiorri, T. Wimböck, M. Grebenstein, and G. Hirzinger, Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints, IEEE International Conference on Robotics and Automation, 2007, Roma/Italy.
Ch. Ott, O. Eiberger, W. Friedl, B. Bäuml, U. Hillenbrand, Ch. Borst, A. Albu-Schäffer, B. Brunner, H. Hirschmüller, S. Kielhöfer, R. Konietschke, M. Suppa, T. Wimböck, F. Zacharias, and G. Hirzinger, A Humanoid Two-Arm System for Dexterous Manipulation, IEEE-RAS International Conference on Humanoid Robots, Genova/Italy, 2006, pp. 276-283.
T. Wimböck, Ch. Ott, and G. Hirzinger, Passivity-Based Object-Level Impedance Control for a Multifingered Hand, IEEE/RSJ International Conference on Intelligent Robots and Systems 2006, Beijing/China.
Videos (only for personal use):
Catching Flying Balls and Preparing Coffee: Humanoid Rollin'Justin Performs Dynamic and Sensitive Tasks, B. Bäuml, F. Schmidt, T. Wimböck, O. Birbach, A. Dietrich, M. Fuchs, W. Friedl, U. Frese, C. Borst, M. Grebenstein, O. Eiberger, and G. Hirzinger, IEEE International Conference on Robotics and Automation, 2011, Shanghai/China. (ICRA Best Video Award Finalist)
Link to the Daily Planet Show on Discovery Channel with Justin catching flying balls: http://watch.discoverychannel.ca/daily-planet/november-2010/daily-planet---november-24-2010/#clip380307
Rollin' Justin - Mobile Platform with Variable Base, Ch. Borst, T. Wimböck, F. Schmidt, M. Fuchs, B. Brunner, F. Zacharias, P. Robuffo Giordano, R. Konietschke, W. Sepp, S. Fuchs, Ch. Rink, A. Albu-Schäffer, and G. Hirzinger. IEEE International Conference on Robotics and Automation, 2009, Kobe/Japan. (ICRA Best Video Award)
Multimodal telepresent control of DLR's Rollin' Justin, Ph. Kremer, T. Wimböck, J. Artigas, S. Schätzle, K. Jöhl, F. Schmidt, C. Preusche, and G. Hirzinger. accepted at IEEE International Conference on Robotics and Automation, 2009, Kobe/Japan.
A Humanoid Upper-Body System for Two-Handed Manipulation, Ch. Borst, Ch. Ott, T. Wimböck, B. Brunner, F. Zacharias, B. Bäuml, and G. Hirzinger, IEEE International Conference on Robotics and Automation, 2007, Roma/Italy. (ICRA Best Video Award)
Passivity-Based Object-Level Impedance Control for a Multifingered Hand (2006): 1) Object motion, 2) Interaction
