Publication List
Journal papers and book chapters:
S. Haddadin, A. Albu-Schäffer, F. Haddadin, J. Rossmann, G. Hirzinger, Experimental Safety Study on Soft-tissue Injury in Robotics. Part I: Theory, Materials, Methods and Simulation Experiments, IEEE Robotics & Automation Magazine, accepted for publication, 2011
S. Haddadin, A. Albu-Schäffer, F. Haddadin, J. Rossmann, G. Hirzinger, Experimental Safety Study on Soft-tissue Injury in Robotics. Part II: Experiments with soft materials, IEEE Robotics & Automation Magazine, accepted for publication, 2011
R. Bischoff, J. Kurth, G. Schreiber, R. Köppe, A. Stemmer, A. Albu-Schäffer, O. Eiberger, A. Beyer, G. Grunwald, G. Hirzinger: aus der Forschung zum Industrieprodukt: Die Entwicklung des KUKA Leichtbauroboters, at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, No.12 ,pp. 670-680, 2010
S. Haddadin, S. Fuchs, T. Bodenmüller, A. Albu-Schäffer, G. Hirzinger: Konzepte für den Roboterassistenten der Zukunft, at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, No.12, pp. 695-708, 2010
T. Wimböck, Ch. Borst, A. Albu-Schäffer, Ch. Ott, F. Schmidt, M. Fuchs, W. Friedl, O. Eiberger, A. Baumann, A. Beyer, G. Hirzinger. DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung, at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, 2010
S. Haddadin, A. Albu-Schäffer, G. Hirzinger: Safe Physical Human-Robot Interaction: Measurements, Analysis & New Insights, Robotics Research: The 13th International
Symposium ISRR, Eds. Makoto Kaneko and Yoshihiko Nakamura, pp. 395-408, 2010, Springer-Verlag, Heidelberg
L. Le-Tien, A. Albu-Schäffer, K. Janschek, G. Hirzinger: Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken, at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, No.9, pp. 499-511, DOI 10.1524/auto.2010.0866, 2010
S. Haddadin, A. Albu-Schäffer, and G. Hirzinger: Safety Analysis for a Human-Friendly Manipulator, International Journal of Social Robotics: Special Issue on Towards Safety in Human Robot Interaction, 2010.
S. Haddadin, A: Albu-Schäffer and G: Hirzinger: Requirements for Safe Robots: Measurements, Analysis & New Insights, International Journal on Robotics Research (IJRR2007), Invited paper: Special issue of ISRR2007, Vol.28, No.11-12, 2009, pp.1507-1527
S. Haddadin, T. Laue, U. Frese, S. Wolf, A. Albu-Schäffer, G. Hirzinger: Kick it like a Safe Robot: Requirements for 2050, Autonomous Systems: Special Issue on Humanoid Soccer Robots 2009 vol. 57, issue 8, pp. 761-775.
A. Albu-Schäffer, Alin; O. Eiberger, M. Grebenstein, S. Haddadin; Ch. Ott, T. Wimbock, S. Wolf, G. Hirzinger: Soft robotics: From Torque Feedback Controlled Lightweight Robots to Intrinsically Compliant Systems, IEEE Robotics & Automation Magazine, IEEE Volume 15, Issue 3, September 2008 Page(s):20 - 30
U. Hagn, M. Nickl, S. Jörg, G. Passig, T. Bahls, A. Nothhelfer, F. Hacker, L. Le-Tien, A. Albu-Schäffer, R. Konietschke, M. Grebenstein, R. Warpup, R. Haslinger, M. Frommberger, G. Hirzinger: The DLR MIRO: a versatile lightweight robot for surgical applications, Industrial Robot: An International Journal; Volume: 35 Issue: 4; 2008, Outstanding Paper Award 2008
Ch. Ott, A. Albu-Schäffer, A. Kugi, and G. Hirzinger: On the Passivity Based Impedance Control of Flexible Joint Robots, IEEE Transactions on Robotics, Vol. 24, No. 2, pages 416 429, 2008.
A. Albu-Schäffer, S. Haddadin, Ch. Ott, A. Stemmer, T. Wimböck, and G. Hirzinger: The DLR Lightweight Robot Design and Control Concepts for Robots in Human Environments. Industrial Robot: An International Journal, Vol.34 No. 5, 2007, Outstanding Paper Award 2007
A. Albu-Schäffer, Ch. Ott and G. Hirzinger: A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. Invited extended version of the Springer Tracts Article, Int. Journal of Robotics Research, Vol. 26, No. 1, 23-39, 2007 DLR Science Award 2007
A. Albu-Schäffer, Ch. Ott, G. Hirzinger: A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots, Robotics Research (Springer Tracts in Advanced Robotics), Springer Verlag, pages 5-21, 2007.
Ott, Ch., Albu-Schäffer, A., Kugi, A. Hirzinger, G.: Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach. pro literatur Verlag, Advanced Robotic Systems International, Chapter IX.5 in /Cutting Edge Robotics/, V. Kordic, A. Lazinica, and M. Merdan (Eds.), pages 671-682, 2006
Ch. Ott, A. Albu-Schäffer, A. Kugi, S. Stramigioli, and G. Hirzinger: Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz ,. at-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, pages 378-388, August 2005. Best Paper Award 2005.
Grunwald, G., Schreiber, G., Albu-Schäffer, A., Hirzinger, G.: Touch: The Intuitive Type of Human and Robot Interaction. Advances In Human Robot Interaction, Series: Springer Tracts in Advanced Robotics, Vol. 14, -, Springer Verlag, 2004
G. Hirzinger, K. Landzettel, B. Brunner, M. Fischer, C. Preusche, D. Reintsema, A. Albu-Schäffer, G. Schreiber, B. Steinmetz: DLR's robotics technologies for on-orbit servicing, Journal of Advanced Robotics, Special Issue: Service robots in space, Vol. 18, No. 2, pp 139--174, 2004
A. Albu-Schäffer and G. Hirzinger: Cartesian Compliant Control Strategies for Light-Weight, flexible Joint Robots. In "Control Problems in Robotics", Springer tracts in advanced robotics, Eds.: A. Bicchi, H. Christensen, D. Prattichizzo. Springer Verlag Berlin Heidelberg, pp. 135-151, 2003
G. Grunwald, G. Schreiber, A. Albu-Schäffer, and G. Hirzinger: Programming by touch: The different way of human-robot interaction. IEEE Transactions on Industrial Electronics, Vol. 50, No. 4, pp. 659- 666, 2003
A. Albu-Schäffer and G. Hirzinger: A globally stable state feedback controller for flexible joint robots. Journal of Advanced Robotics, Special Issue: Selected papers from IROS 2000, Vol.15, No.8, pp.799-814, 2001
Conference papers:
A. Dietrich, T. Wimböck, A. Albu-Schäffer, G. Hirzinger: Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2011), Shanghai, 2011
A. Dietrich, T. Wimböck, H. Täubig, A. Albu-Schäffer, G. Hirzinger: Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2011), Shanghai, 2011
J. Park, S. Haddadin, J. Song, A. Albu-Schäffer: Designing Optimally Safe Robot Surface Properties for Minimizing the Stress Characteristics of Human-Robot Collisions, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2011), Shanghai, 2011
M. Grebenstein, A. Albu-Schäffer, T. Bahls, M. Chalone, O. Eiberger, W. Friedl, R. Gruber, U. Hagn, R. Haslinger, H. Höppner, S. Jörg, M. Nickl, A. Nothelfer, F. Petit, J. Reill, N. Seitz, T. Wimböck, S. Wolf, T. Wüsthoff, G, Hirzinger: Modular state-based behaviour control for safe human-robot interaction: A lightweight control architecture for a lightweight robot, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2011), Shanghai, 2011
S. Parusel, S. Haddadin, A. Albu-Schäffer: Modular state-based behaviour control for safe human-robot interaction: A lightweight control architecture for a lightweight, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2011), Shanghai, 2011
Etienne Burdet, Ganesh Gowrishankar, Chenguang Yang, Alin Albu-Schäffer: Interaction Force, Impedance and Trajectory Adaptation: by Humans, for Robots, Int. Symposium on Experimental Robotics, ISER 2010.
Ch. Ott, Ch. Baumgärtner, J. Mayr, M. Fuchs, R. Burger, D. Lee, O. Eiberger, A. Albu-Schäffer, M. Grebenstein, and G. Hirzinger: Development of a Biped Robot with Torque Controlled Joints, Humanoids, Atlanta, 2011
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
S. Haddadin, A. Albu-Schäffer, O. Eiberger, and G. Hirzinger: New Insights Concerning Intrinsic Joint Elasticity for Safety, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taipeh, Taiwan, 2010.
S. Haddadin, H. Urbanek, S. Parusel, D. Burschka, J. Roßmann, A. Albu-Schäffer, and G. Hirzinger: Realtime Reactive Motion Generation Based on Variable Attractor Dynamics and Shaped Velocities, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taiwan, 2010.
S. Haddadin, S. Parusel, J. Vogel, R. Belder, T. Rokahr, A. Albu-Schäffer, and G. Hirzinger: Holistic design and analysis for the human-friendly robotic co-worker, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taipeh, Taiwan, 2010.
R. Bischoff, J. Kurth, G. Schreiber, R. Köppe, A. Albu-Schäffer, A. Beyer, O. Eiberger, S. Haddadin, A. Stemmer, G. Grunwald, G. Hirzinger: The KUKA-DLR Lightweight Robot arm a new reference platform for robotics research and manufacturing, International Symposium on Robotics (ISR2010), Munich, Germany, 2010.
A. Albu-Schäffer, S. Wolf, O. Eiberger, S. Haddadin, F. Petit, and M. Chalon. Dynamic modeling and control of variable stiffness actuators. IEEE Int. Conf. on Robotics and Automation (ICRA 2010), Anchorage, pp. 2155-2162, 2010.
G. Ganesh, A. Albu-Schäffer, M. Haruno, M. Kawato and E. Burdet. Biomimetic motor behavior for simultaneous adaptation of force, impedance and trajectory in interaction tasks IEEE Int. Conf. on Robotics and Automation (ICRA2010), Alaska, pp. 2705-2711, 2010. "Best Cognitive Paper Award Finalist"
F. Petit, M. Chalon, W. Friedl, M. Grebenstein, A. Albu-Schäffer and G. Hirzinger: Bidirectional Antagonistic Variable Stiffness Actuation: Analysis, Design & Implementation, IEEE Int. Conf. on Robotics and Automation (ICRA2010), Anchorage, Alaska, pp. 4189-4196, 2010.
S. Haddadin, A. Albu-Schäffer, and G. Hirzinger: Soft-tissue Injury in Robotics, IEEE Int. Conf. on Robotics and Automation (ICRA2010), Alaska, pp. 3426-3433, 2010.
O. Eiberger, S. Haddadin, M. Weis, A. Albu-Schäffer, and G. Hirzinger: On Joint Design with Intrinsic Variable Compliance: Derivation of the DLR QA-Joint, IEEE Int. Conf. on Robotics and Automation (ICRA2010), Anchorage, Alaska, pp. 1687-1694, 2010.
A. Albu-Schäffer, O. Eiberger, M. Fuchs, M. Grebenstein, S. Haddadin, Ch. Ott, A. Stemmer, T. Wimböck, S. Wolf, Ch. Borst and G. Hirzinger: Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance, International Symposium on Robotics Research (ISRR), Luzern, Switzerland, 2009
Sami Haddadin, M. Suppa, S. Fuchs, A. Albu-Schäffer, G. Hirzinger: Towards the Robotic Co-Worker, International Symposium on Robotics Research (ISRR), Luzern, Switzerland, 2009
Paolo Robuffo Giordano, Matthias Fuchs, Alin Albu-Schäffer, Gerd Hirzinger: On the Kinematic Modelling and Control of a Mobile Platform Equipped with Steering Wheels and Movable Legs IEEE Int. Conf. on Robotics and Automation (ICRA 2009), 2009.
Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Juergen Rossmann, Gerd Hirzinger: The "DLR Crash Report": Towards a Standard Crash-Testing Protocol for Robot Safety - Part I: Results IEEE Int. Conf. on Robotics and Automation (ICRA 2009), 2009, pp.272-279 Best Service Robotics Paper Award.
Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Juergen Rossmann, Gerd Hirzinger: The ``DLR Crash Report'': Towards a Standard Crash-Testing Protocol for Robot Safety - Part II: Discussions IEEE Int. Conf. on Robotics and Automation (ICRA 2009), 2009, pp.280-287 Best Service Robotics Paper Award.
Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Andreas Kugi and Gerd Hirzinger: Impedance Control for Variable Stiffness Mechanisms with Nonlinear Joint Coupling, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2008), Nice, France, 2008, pp:3796:3803
P. Robuffo Giordano, A. Stemmer, K. Arbter and A. Albu-Schäffer: Robotic Assembly of Complex Planar Parts: An Experimental Evaluation, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2008), Nice, France, 2008, pp: 3775-3782.
Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca, and Gerd Hirzinger: Collision Detection & Reaction: A Contribution to Safe Physical Human-Robot Interaction, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2008), Nice, France, 2008, pp. 3356-3363. Best Application Paper Award.
Luc Le Tien, Alin Albu-Schäffer, Alessandro De Luca, and Gerd Hirzinger: Friction Observer and Compensation for Control of Robots with Joint Torque Measurement, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2008), Nice, France, 2008, pp. 3789-3795.
Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safety in Human-Robot Interaction, Poster presentation at Robotics: Science and Systems Conference Workshop: Robot Manipulation: Intelligence in Human Environments (RSS2008), Zurich, Switzerland, 2008.
Gerd Hirzinger and Alin Albu-Schaeffer (2008) Light-weight robots. Scholarpedia, 3(4):3889
Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca and Gerd Hirzinger: Evaluation of Collision Detection and Reaction for a Human-Friendly Robot on Biological Tissues, 2008 IARP International Workshop on Technical challenges and for dependable robots in Human environments (IARP2008), Pasadena, USA, 2008
Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part I: Unconstrained Blunt Impacts, IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, 2008.
Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger and Gerd Hirzinger: The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part II: Constrained Blunt Impacts, IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, 2008,
Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safe Physical Human-Robot Interaction: Measurements, Analysis & New Insights, International Symposium on Robotics Research (ISRR2007), Hiroshima, Japan, 2007
A. De Santis, A. Albu-Schäffer, C. Ott, B. Siciliano, G. Hirzinger, The skeleton algorithm for self-collision avoidance of a humanoid manipulator, 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Zürich, Switzerland (September 2007)
R. Iskakov, A. Albu-Schäffer, M. Schedl, I. Lopota, G. Hirzinger: Influence of sensor quantization on the control performance of robotics actuators, Int. Conf. on Intelligent Robots and Systems, IROS 2007, pp. 1085-1092.
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger: Approaching Asimov's 1st Law: The Role of the Robot's Weight Class, Robotics: Science and Systems Conference Workshop: Robot Manipulation: Sensing and adapting the real world (RSS2007), Atlanta, USA, 2007
Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing, Robotics: Science and Systems Conference (RSS2007), Atlanta, USA, 2007
Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Dummy Crash-Tests for the Evaluation of Rigid Human-Robot Impacts, 2007 IARP International Workshop on Technical challenges and for dependable robots in Human environments (IARP2007), Rome, Italy, 2007
A. Stemmer, A. Albu-Schäffer, G. Hirzinger: An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts, Int. Conf. on Robotics and Automation (ICRA), Rome, pp. 317-323, 2007
L. Le Tien, A. Albu-Schäffer, G. Hirzinger: MIMO state feedback controller for a flexible joint robot with strong joint coupling, Int. Conf. on Robotics and Automation (ICRA), Rome, pp. 3824-3830, 2007
B. Rebele, B. Schaefer, A. Albu-Schaeffer, W. Bertleff, K. Landzettel: Robotic Joints and Contact Dynamics Experiments: Lessons Learned from ROKVISS, Proc. 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), pp.33-40, Noordwijk, Nov. 2006
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, pp.276-283, 2006
A. Stemmer, G. Schreiber, K. Arbter and A. Albu-Schäffer: Robust Assembly of Complex Shaped Planar Parts Using Vision and Force, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, September 3-6, Heidelberg, Germany, pp. 493-500, 2006
Ch. Ott, A. Albu-Schäffer, and G. Hirzinger: A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure, Int. Conf. on Intelligent Robots and Systems, Beijing, China, pp.4502-4508, 2006
A. De Luca, A. Albu-Schäffer, S. Haddadin, G. Hirzinger: Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm, Int. Conf. on Intelligent Robots and Systems, Beijing, China, pp.1623-1630, 2006
K. Landzettel, C. Preusche, A. Albu-Schäffer, D. Reintsema, B. Rebele, G. Hirzinger: Robotic On-Orbit Servicing - DLR's Experience and Perspective, Int. Conf. on Intelligent Robots and Systems, Beijing, China, pp.4587-4594, 2006
R. Alami, A. Albu-Schaeffer, A. Bicchi, R. Bischoff, R. Chatila, A. De Luca, A. De Santis, G. Giralt, G. Hirzinger, V. Lippiello, R. Mattone, S. Sen, B. Siciliano, G. Tonietti, L. Villani: Safe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges, Worhshop on Physical Human-Robot Interaction in Anthropic Domains, at the Int. Conf. on Intelligent Robots and Systems (IROS), 2006
Albu-Schäffer, W. Bertleff, B. Rebele, B. Schäfer, K. Landzettel, and G. Hirzinger: ROKVISS Robotics Component Verification on ISS: Current Experimental Results on Parameter Identification, Int. Conf. on Robotics and Automation (ICRA) , pp. 3879-3885, Florida, 2006
T. Ortmaier, H. Weiss, U. Hagn, M. Grebenstein, M. Nickl, A. Albu-Schäffer, C. Ott, S. Jörg, R. Konietschke, Luc Le-Tien, and G. Hirzinger: A Hands-On-Robot for Accurate Placement of Pedicle Screws, Int. Conf. on Robotics and Automation (ICRA) , pp. 4179-4186, Florida, 2006
Hirzinger G., Landzettel K., Reintsema D., Preusche C., Albu-Schäffer A., Rebele B., Turk, M.: ROKVISS - Robotics Component Verification on ISS: i-SAIRAS, 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space, München, 5.-8. September 2005
Albu-Schäffer, A.; Bicchi, A.; Chatila, R.; Luca De, A.; Giralt, G.; Hirzinger, G.; Mattone, R.; Oriolo, G.; Schiavi, R.; Siciliano, B.; Tonietti, G.; Vendittelli, M.; Villani, L. (2005): Physical Human-Robot Interaction in Anthropic Domains: Safety and Dependability. In: Proceedings, 4th IARP/IEEE-RAS/EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, Nagoya University, June 16-18, 2005
Ortmaier, T.; Weiß, H.; Hagn, U.; Grebenstein, M.; Nickl, M.; Albu-Schäffer, A.; Ott, C.; Jörg, S.; Konietschke, R.; Hirzinger, G.: Ein neuer Roboter zum navigierten Setzen von Pedikelschrauben. In: Bayerisches Kompetenznetzwerk für Mechatronik, Augsburg [Hrsg.]: Tagungsband, Augsburg 15.5. 16.6.2005, S. 673 - 699, ifm Internationales Forum für Mechatronik, Augsburg, 15./16.06.2005, ISBN 3-937002-03-0, 2005
A. Albu-Schäffer, Ch. Ott and G. Hirzinger: A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots Int. Symposium on Robotics Research 2005, Oct. 12-15, 2005, San Francisco
A. Albu-Schäffer, C. Ott and G. Hirzinger: Constructive Energy shaping based Impedance control for a class of underactuated Euler-Lagrange Systems, Int. Conf. on Robotics and Automation (ICRA), Barcelona, pp.1399-1405, 2005
Schäfer, B., Landzettel, K., Albu-Schäffer, A., Hirzinger, G.:, "ROKVISS: Orbital Testbed for Tele-Presence Experiments, Novel Robotic Components and Dynamics Models Verification", Proc. 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), Noordwijk, November, 2004
A. Albu-Schäffer, C. Ott and G. Hirzinger: Passivity Based Cartesian Impedance Control for Flexible Joint Manipulators. Symposium on Nonlinear Control Systems (NOLCOS), Stuttgart, pp. 1175-1180, Sept., 2004.
A. Albu-Schäffer, M. Fischer, G. Schreiber, F. Schoeppe and G. Hirzinger: Soft Robotics: What Cartesian Stiffness Can We Obtain With Passively Compliant, Uncoupled Joints? IEEE/RSL Int. Conf. on Intelligent Robots and Systems, Sendai, Japan, pp.3295-3301, Sept. 2004.
H. Urbanek, A. Albu-Schäffer, P.v.d.Smagt: Learning from Demonstration Repetitive Movements for Autonomous Service Robotics, EEE/RSL Int. Conf. on Intelligent Robots and Systems, Sendai, Japan, pp.3495-3500, Sept. 2004.
Ch. Ott, A. Albu-Schäffer, A. Kugi, S. Stramigioli and G. Hirzinger: Ein passivitätsbasierter Ansatz zur kartesischen Impedanzregelung von Robotern mit elastischen Gelenken, "Robotik-2004"-Conference, München, VDI-Berichte Nr. 1841, pp. 71-79, 17.-18.6. 2004,
Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli and Gerd Hirzinger: A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation, Int. Conf. on Robotics and Automation (ICRA), pp.2666-2672, 2004.
A. Albu-Schäffer, Ch. Ott, and G. Hirzinger: A Passivity Based Cartesian Impedance Controller for Flexible Joint Robots. Part II: Full State Feedback, Impedance Design and Experiments, Int. Conf. on Robotics and Automation (ICRA), pp.2666-2672, 2004.
Schreiber, G., Albu-Schäffer, A., Fischer, M., Schoeppe, F., Hirzinger, G.: Achievable Cartesian Stiffness with Passively Compliant, Uncoupled Joints. 9th International Symposium on Advances in Robot Kinematics(ARK), Sestri Levante, Italy, June 28 - July 1, 2004, C- Galletti, J. Lenarcic, Proceedings, (2004)
A. Albu-Schäffer, Ch. Ott, U. Frese and G. Hirzinger: Cartesian Impedance Control of Redundant Robots: Recent Results with the DLR-Light-Weight-Arms, Int. Conf. on Robotics and Automation (ICRA), pp. 3704-3709, 2003.
C. Ott, A. Albu-Schäffer, A.Kugi and G. Hirzinger: Decoupling Based Cartesian Impedance Control of Flexible Joint Robots. Int. Conf. on Robotics and Automation (ICRA), pp. 3101-3107, 2003.
A. Albu-Schäffer and G. Hirzinger: Recent Progress in the Development of Ultra-Light-Weight Arms/Hands: Design and Experiments, in Tutorial "Towards Intelligent Robotic Manipulation", Int. Conf. on Intelligent Robots and Systems (IROS), 2002
C. Ott, A. Albu-Schäffer, G. Hirzinger: Comparison of Adaptive and Nonadaptive Tracking Control Laws for a Flexible Joint Manipulators, Int. Conf. on Intelligent Robots and Systems (IROS), pp.2018-2024, Lausanne, 2002
A. Albu-Schäffer and G. Hirzinger: Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots, Int. Conf. on Robotics and Automation (ICRA), pp. 657-663, 2002
G. Hirzinger, N. Sporer, A. Albu-Schäffer, M. Hähnle, R. Krenn, A. Pascucci, M. Schedl: DLR's torque-controlled light weight robot III - are we reaching the technological limits now?, Int. Conf. on Robotics and Automation (ICRA), pp. 1710-1716, 2002
A. Albu-Schäffer, G. Hirzinger: Parameter identification and passivity based joint control for a 7DOF torque controlled light weight robot, in: Proc. Int. Conf. on Robotics and Automation (ICRA), Seoul, Korea, pp. 1087-1093, 2001
G. Hirzinger, A. Albu-Schäffer, M. Hähnle, I. Schaefer, and N. Sporer: A new generation of torque controlled light-weight robots, in: Proc. Int. Conf. on Robotics and Automation (ICRA), Seoul, Korea, pp. 3356-3363, 2001
R. Koeppe, A. Albu-Schaffer, C. Preusche, G. Schreiber and G. Hirzinger: A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties, Int. Symposium on Robotics Research (ISRR), Lorne, Australia, 2001
G. Grunwald G. Schreiber A. Albu-Schäffer, G. Hirzinger: Touch: The Direct Type of Human Interaction with a Redundant Service Robot, in: Proceedings of the International Workshop on Robot and Human Communication, Sept. 18-21, Bordeaux-Paris, 2001
C. Preusche, R. Koeppe, A. Albu-Schäffer, M. Hähnle, N. Sporer, G. Hirzinger: Design and haptic control of a 6DOF force-feedback device. In: Proc. of the 2001 Workshop on Advances in Interactive Multimodal Telepresence Systems, march 29-30, 2001
A. Albu-Schäffer and G. Hirzinger: State feedback controller for flexible joint robots: A globally stable approach implemented on DLR's light-weight robots. IROS, Vol 2. , pp. 1087-1094, 2000
Koeppe, R., Smagt, Patrick van der, Albu-Schäffer, Alin, Arbter, K., Fischer, M., et al.: Neuronale Perzeption und Manipulation multisensorieller Manipulatoren und Roboterhände. DLR-Mitt, 1999-02, 1999
J. Shi, A. Albu-Schäffer, and G. Hirzinger. Key issues in dynamic control of lightweight robots for space and terrestrial applications, in: Proc. Int. Conf. on Robotics and Automation, Leuven, Belgium, pp. 490-498, 1998
G. Hirzinger, R. Koeppe, A. Baader, F. Lange, A. Albu-Schäffer, R. Staudte and G. Wei: Neural Perception and Manipulation in Robotics. Statusseminar des BMBF, Europäisches Patentamt München, 17.-19.04.96, Proc. Statusseminar des BMBF, Künstliche Intelligenz, Neuroinformatik und Intelligente Systeme, 17.-19.04.96, pp. 314-328, 1996
Ph.D. Thesis:
Regelung von Robotern mit elastischen Gelenken am Beispiel der DLR-Leichtbauarme