Gerd Hirzinger - researchr alias

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2011

The DLR Robot Motion Simulator Part II: Optimization based path-planningTobias Bellmann, Martin Otter, Gerd Hirzinger. icra 2011: 4702-4709 [doi]

The DLR Robot Motion Simulator Part I: Design and setupTobias Bellmann, Johann Heindl, Matthias Hellerer, Richard Kuchar, Karan Sharma, Gerd Hirzinger. icra 2011: 4694-4701 [doi]

Catching flying balls and preparing coffee: Humanoid Rollin Justin performs dynamic and sensitive tasksBerthold Bäuml, Florian Schmidt, Thomas Wimböck, Oliver Birbach, Alexander Dietrich, Matthias Fuchs, Werner Friedl, Udo Frese, Christoph Borst, Markus Grebenstein, Oliver Eiberger, Gerd Hirzinger. icra 2011: 3443-3444 [doi]

Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprintAlexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger. icra 2011: 6136-6142 [doi]

Extensions to reactive self-collision avoidance for torque and position controlled humanoidsAlexander Dietrich, Thomas Wimböck, Holger Täubig, Alin Albu-Schäffer, Gerd Hirzinger. icra 2011: 3455-3462 [doi]

Compensating beating heart motion displayed by a heart motion simulatorMartin Gröger, Renat Iskakov, Gerd Hirzinger. icra 2011: 1601-1606 [doi]

Optimal setup of the DLR MiroSurge telerobotic system for minimally invasive surgeryRainer Konietschke, Tim Bodenmüller, Christian Rink, Andrea Schwier, Berthold Bäuml, Gerd Hirzinger. icra 2011: 3435-3436 [doi]

A surface-based Next-Best-View approach for automated 3D model completion of unknown objectsSimon Kriegel, Tim Bodenmüller, Michael Suppa, Gerd Hirzinger. icra 2011: 4869-4874 [doi]

Trajectory planning for optimal robot catching in real-timeRoberto Lampariello, Duy Nguyen-Tuong, Claudio Castellini, Gerd Hirzinger, Jan Peters. icra 2011: 3719-3726 [doi]

Physical human robot interaction in imitation learningDongheui Lee, Christian Ott, Yoshihiko Nakamura, Gerd Hirzinger. icra 2011: 3439-3440 [doi]

Editorial: Special Issue on the Fourteenth International Symposium on Robotics Research, 2009Cédric Pradalier, Roland Siegwart, Gerd Hirzinger. ijrr, 30(3):263-264, 2011. [doi]

Reachable Independent Contact Regions for precision graspsMáximo A. Roa, Katharina Hertkorn, Christoph Borst, Gerd Hirzinger. icra 2011: 5337-5343 [doi]

Image-based pose estimation for 3-D modeling in rapid, hand-held motionKlaus H. Strobl, Elmar Mair, Gerd Hirzinger. icra 2011: 2593-2600 [doi]

An approach to ulta-tightly coupled data fusion for handheld input devices in robotic surgeryAndreas Tobergte, Mihai Pomarlan, Georg Passig, Gerd Hirzinger. icra 2011: 2424-2430 [doi]

The DLR FSJ: Energy based design of a variable stiffness jointSebastian Wolf, Oliver Eiberger, Gerd Hirzinger. icra 2011: 5082-5089 [doi]

Making planned paths look more human-like in humanoid robot manipulation planningFranziska Zacharias, Christian Schlette, Florian Schmidt, Christoph Borst, Jürgen Rossmann, Gerd Hirzinger. icra 2011: 1192-1198 [doi]

2010

The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturingRainer Bischoff 0002, Johannes Kurth, Günter Schreiber, Ralf Koeppe, Alin Albu-Schäffer, Alexander Beyer, Oliver Eiberger, Sami Haddadin, Andreas Stemmer, Gerhard Grunwald, Gerd Hirzinger. isr 2010: 1-8 [doi]

Aus der Forschung zum Industrieprodukt: Die Entwicklung des KUKA Leichtbauroboters (From Research to an Industrial Product: The Development of the KUKA Lightweight Robot)Rainer Bischoff 0002, Johannes Kurth, Günter Schreiber, Ralf Koeppe, Andreas Stemmer, Alin Albu-Schäffer, Oliver Eiberger, Alexander Beyer, Gerhard Grunwald, Gerd Hirzinger. at, 58(12):670-680, 2010. [doi]

The driver concept for the DLR lightweight robot IIIRobert Burger, Sami Haddadin, Georg Plank, Sven Parusel, Gerd Hirzinger. iros 2010: 5453-5459 [doi]

Kinematically optimal catching a flying ball with a hand-arm-systemBerthold Bäuml, Thomas Wimböck, Gerd Hirzinger. iros 2010: 2592-2599 [doi]

Torque and workspace analysis for flexible tendon driven mechanismsMaxime Chalon, Thomas Wimböck, Gerd Hirzinger. icra 2010: 1175-1181 [doi]

The thumb: guidelines for a robotic designMaxime Chalon, Markus Grebenstein, Thomas Wimböck, Gerd Hirzinger. iros 2010: 5886-5893 [doi]

On joint design with intrinsic variable compliance: derivation of the DLR QA-JointOliver Eiberger, Sami Haddadin, Michael Weis, Alin Albu-Schäffer, Gerd Hirzinger. icra 2010: 1687-1694 [doi]

Robot assisted internal mammary artery detection for coronary revascularisation surgeryFlorian Alexander Fröhlich, Georg Passig, Adrian Vazquez, Gerd Hirzinger. iros 2010: 1849-1855 [doi]

Analysis and evaluation of the stability of a biologically inspired, Leg loss tolerant gait for six- and eight-legged walking robotsMartin Görner, Gerd Hirzinger. icra 2010: 4728-4735 [doi]

Soft-tissue injury in roboticsSami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger. icra 2010: 3426-3433 [doi]

Konzepte für den Roboterassistenten der Zukunft (Towards the Robotic Co-Worker)Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger. at, 58(12):695-709, 2010. [doi]

New insights concerning intrinsic joint elasticity for safetySami Haddadin, Alin Albu-Schäffer, Oliver Eiberger, Gerd Hirzinger. iros 2010: 2181-2187 [doi]

Real-time reactive motion generation based on variable attractor dynamics and shaped velocitiesSami Haddadin, Holger Urbanek, Sven Parusel, Darius Burschka, Jürgen Roßmann, Alin Albu-Schäffer, Gerd Hirzinger. iros 2010: 3109-3116 [doi]

Safety Analysis for a Human-Friendly ManipulatorSami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger. ijsr, 2(3):235-252, 2010. [doi]

Holistic design and analysis for the human-friendly robotic co-workerSami Haddadin, Sven Parusel, Rico Belder, Joern Vogel, Tim Rokahr, Alin Albu-Schäffer, Gerd Hirzinger. iros 2010: 4735-4742 [doi]

Time Domain Passivity Control for multi-degree of freedom haptic devices with time delayKatharina Hertkorn, Thomas Hulin, Philipp Kremer, Carsten Preusche, Gerd Hirzinger. icra 2010: 1313-1319 [doi]

Assembling wheels to continuously conveyed car bodies using a standard industrial robotFriedrich Lange, Jochen Werner, Johannes Scharrer, Gerd Hirzinger. icra 2010: 3863-3869 [doi]

Is a Linear Axis Really Required When Assembling Parts to a Moving Conveyor?Friedrich Lange, Johannes Scharrer, Gerd Hirzinger. isr 2010: 1-8 [doi]

Control of Large Forces and Torques - Using an Asymmetrically Arranged Compliant SensorFriedrich Lange, Bertram Willberg, Gerd Hirzinger. isr 2010: 1-8 [doi]

Classification and prediction for accurate sensor-based assembly to moving objectsFriedrich Lange, Johannes Scharrer, Gerd Hirzinger. icra 2010: 2163-2168 [doi]

Toward understanding the effects of visual- and force-feedback on robotic hand grasping performance for space teleoperationNeal Y. Lii, Zhaopeng Chen, Benedikt Pleintinger, Christoph Borst, Gerd Hirzinger, Andre Schiele. iros 2010: 3745-3752 [doi]

Adaptive and Generic Corner Detection Based on the Accelerated Segment TestElmar Mair, Gregory D. Hager, Darius Burschka, Michael Suppa, Gerd Hirzinger. eccv 2010: 183-196 [doi]

Bidirectional antagonistic variable stiffness actuation: Analysis, design & ImplementationFlorian Petit, Maxime Chalon, Werner Friedl, Markus Grebenstein, Alin Albu-Schäffer, Gerd Hirzinger. icra 2010: 4189-4196 [doi]

MICA - A new generation of versatile instruments in robotic surgerySophie Thielmann, Ulrich Seibold, Robert Haslinger, Georg Passig, Thomas Bahls, Stefan Jörg, Mathias Nickl, Alexander Nothhelfer, Ulrich Hagn, Gerd Hirzinger. iros 2010: 871-878 [doi]

Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken (Decoupling Control and Friction Compensation for Robot with Elastic Coupled Joints)Luc Le Tien, Alin Albu-Schäffer, Klaus Janschek, Gerd Hirzinger. at, 58(9):499-511, 2010. [doi]

Towards accurate motion compensation in surgical roboticsAndreas Tobergte, Florian Fröhlich, Mihai Pomarlan, Gerd Hirzinger. icra 2010: 4566-4572 [doi]

Immersion and invariance control for an antagonistic joint with nonlinear mechanical stiffnessThomas Wimböck, Christian Ott, Gerd Hirzinger. cdc 2010: 1128-1135 [doi]

DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR s Two-Handed Humanoid Justin: System Design, Integration and Control)Thomas Wimböck, Christoph Borst, Alin Albu-Schäffer, Christian Ott, Florian Schmidt, Matthias Fuchs, Werner Friedl, Oliver Eiberger, Andreas Baumann, Alexander Beyer, Gerd Hirzinger. at, 58(11):622-629, 2010. [doi]

Exploiting structure in two-armed manipulation tasks for humanoid robotsFranziska Zacharias, Daniel Leidner, Florian Schmidt, Christoph Borst, Gerd Hirzinger. iros 2010: 5446-5452 [doi]

Workspace comparisons of setup configurations for human-robot interactionFranziska Zacharias, Ian S. Howard, Thomas Hulin, Gerd Hirzinger. iros 2010: 3117-3122 [doi]

2009

Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertaintySatoko Abiko, Gerd Hirzinger. iros 2009: 2359-2364 [doi]

Bilateral Energy Transfer for high fidelity haptic telemanipulationJordi Artigas, Carsten Preusche, Gerd Hirzinger, Gianni Borghesan, Claudio Melchiorri. haptics 2009: 488-493 [doi]

Rollin Justin - Mobile platform with variable baseChristoph Borst, Thomas WimbÃ¶ck, Florian Schmidt, Matthias Fuchs, Bernhard Brunner, Franziska Zacharias, Paolo Robuffo Giordano, Rainer Konietschke, Wolfgang Sepp, Stefan Fuchs, Christian Rink, Alin Albu-SchÃ¤ffer, Gerd Hirzinger. icra 2009: 1597-1598 [doi]

Rollin Justin - Design considerations and realization of a mobile platform for a humanoid upper bodyMatthias Fuchs, Christoph Borst, Paolo Robuffo Giordano, Andreas Baumann, Erich KrÃ¤mer, JÃ¶rg Langwald, Robin Gruber, Nikolaus Seitz, Georg Plank, Klaus Kunze, Robert Burger, Florian Schmidt, Thomas WimbÃ¶ck, Gerd Hirzinger. icra 2009: 4131-4137 [doi]

On the kinematic modeling and control of a mobile platform equipped with steering wheels and movable legsPaolo Robuffo Giordano, Matthias Fuchs, Alin Albu-SchÃ¤ffer, Gerd Hirzinger. icra 2009: 4080-4087 [doi]

Kick it with elasticity: Safety and performance in human-robot soccerSami Haddadin, Tim Laue, Udo Frese, Sebastian Wolf, Alin Albu-Schäffer, Gerd Hirzinger. ras, 57(8):761-775, 2009. [doi]

The DLR Crash Report : Towards a standard crash-testing protocol for robot safety - Part I: ResultsSami Haddadin, Alin Albu-SchÃ¤ffer, Mirko Frommberger, JÃ¼rgen Rossmann, Gerd Hirzinger. icra 2009: 272-279 [doi]

The DLR crash report : Towards a standard crash-testing protocol for robot safety - Part II: DiscussionsSami Haddadin, Alin Albu-SchÃ¤ffer, Mirko Frommberger, JÃ¼rgen Rossmann, Gerd Hirzinger. icra 2009: 280-287 [doi]

Inverse kinematics with closed form solutions for highly redundant robotic systemsRainer Konietschke, Gerd Hirzinger. icra 2009: 2945-2950 [doi]

The DLR MiroSurge - A robotic system for surgeryRainer Konietschke, Ulrich Hagn, Mathias Nickl, Stefan JÃ¶rg, Andreas Tobergte, Georg Passig, Ulrich Seibold, Luc Le Tien, Bernhard KÃ¼bler, Martin GrÃ¶ger, Florian FrÃ¶hlich, Christian Rink, Alin Albu-SchÃ¤ffer, Markus Grebenstein, Tobias Ortmaier, Gerd Hirzinger. icra 2009: 1589-1590 [doi]

Multimodal telepresent control of DLR s Rollin JUSTINPhilipp Kremer, Thomas WimbÃ¶ck, Jordi Artigas, Simon Schatzle, Klaus JÃ¶hl, Florian Schmidt, Carsten Preusche, Gerd Hirzinger. icra 2009: 1601-1602 [doi]

Passive event-based extrapolation for lossy haptic data compression in bilateral presence systemsPhilipp Kremer, Martin Kuschel, Carsten Preusche, Martin Buss, Gerd Hirzinger. icra 2009: 4338-4343 [doi]

Ground verification of the feasibility of telepresent on-orbit servicingEnrico Stoll, Ulrich Walter, Jordi Artigas, Carsten Preusche, Philipp Kremer, Gerd Hirzinger, Jürgen Letschnik, Helena Pongrac. jfr, 26(3):287-307, 2009. [doi]

The self-referenced DLR 3D-modelerKlaus H. Strobl, Elmar Mair, Tim BodenmÃ¼ller, Simon KielhÃ¶fer, Wolfgang Sepp, Michael Suppa, Darius Burschka, Gerd Hirzinger. iros 2009: 21-28 [doi]

On the issue of camera calibration with narrow angular field of viewKlaus H. Strobl, Wolfgang Sepp, Gerd Hirzinger. iros 2009: 309-315 [doi]

Robust multi sensor pose estimation for medical applicationsAndreas Tobergte, Mihai Pomarlan, Gerd Hirzinger. iros 2009: 492-497 [doi]

Planning and control of a teleoperation system for research in minimally invasive robotic surgeryAndreas Tobergte, Rainer Konietschke, Gerd Hirzinger. icra 2009: 4225-4232 [doi]

Experimental study on dynamic reactionless motions with DLR s humanoid robot JustinThomas WimbÃ¶ck, Dragomir N. Nenchev, Alin Albu-SchÃ¤ffer, Gerd Hirzinger. iros 2009: 5481-5486 [doi]

2008

Computational efficient algorithms for operational space formulation of branching arms on a space robotSatoko Abiko, Gerd Hirzinger. iros 2008: 3312-3317 [doi]

Bilateral energy transfer in delayed teleoperation on the time domainJordi Artigas, Carsten Preusche, Gerd Hirzinger, Gianni Borghesan, Claudio Melchiorri. icra 2008: 671-676 [doi]

When hard realtime matters: Software for complex mechatronic systemsBerthold Bäuml, Gerd Hirzinger. ras, 56(1):5-13, 2008. [doi]

Surface EMG for force control of mechanical handsClaudio Castellini, P. Patrick van der Smagt, Giulio Sandini, Gerd Hirzinger. icra 2008: 725-730 [doi]

Extrinsic and depth calibration of ToF-camerasStefan Fuchs, Gerd Hirzinger. cvpr 2008: [doi]

The DLR-Crawler: A testbed for actively compliant hexapod walking based on the fingers of DLR-Hand IIMartin Görner, Thomas Wimböck, A. Baumann, Matthias Fuchs, Thomas Bahls, Markus Grebenstein, Christoph Borst, Jörg Butterfaß, Gerd Hirzinger. iros 2008: 1525-1531 [doi]

Injury evaluation of human-robot impactsSami Haddadin, Alin Albu-Schäffer, Michael Strohmayr, Mirko Frommberger, Gerd Hirzinger. icra 2008: 2203-2204 [doi]

The role of the robot mass and velocity in physical human-robot interaction - Part II: Constrained blunt impactsSami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Gerd Hirzinger. icra 2008: 1339-1345 [doi]

The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impactsSami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger. icra 2008: 1331-1338 [doi]

Collision detection and reaction: A contribution to safe physical Human-Robot InteractionSami Haddadin, Alin Albu-Schäffer, Alessandro De Luca, Gerd Hirzinger. iros 2008: 3356-3363 [doi]

Light-weight robotsGerd Hirzinger, Alin Albu-Schäffer. scholarpedia, 3(4):3889, 2008. [doi]

Stability boundary for haptic rendering: Influence of human operatorThomas Hulin, Carsten Preusche, Gerd Hirzinger. iros 2008: 3483-3488 [doi]

New aspects of input shaping control to damp oscillations of a compliant force sensorAmine Kamel, Friedrich Lange, Gerd Hirzinger. icra 2008: 2629-2635 [doi]

On the Passivity-Based Impedance Controlof Flexible Joint RobotsAndreas Kugi, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger. trob, 24(2):416-429, 2008. [doi]

Dynamics modeling of structure-varying kinematic chains for free-flying robotsRoberto Lampariello, Satoko Abiko, Gerd Hirzinger. icra 2008: 1207-1212 [doi]

Multisensory five-finger dexterous hand: The DLR/HIT Hand IIHong Liu, K. Wu, Peter Meusel, Nikolaus Seitz, Gerd Hirzinger, M. H. Jin, Y. W. Liu, S. W. Fan, T. Lan, Z. P. Chen. iros 2008: 3692-3697 [doi]

More accurate camera and hand-eye calibrations with unknown grid pattern dimensionsKlaus H. Strobl, Gerd Hirzinger. icra 2008: 1398-1405 [doi]

Friction observer and compensation for control of robots with joint torque measurementLuc Le Tien, Alin Albu-Schäffer, Alessandro De Luca, Gerd Hirzinger. iros 2008: 3789-3795 [doi]

Impedance control for variable stiffness mechanisms with nonlinear joint couplingThomas Wimböck, Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger. iros 2008: 3796-3803 [doi]

Analysis and experimental evaluation of the Intrinsically Passive Controller (IPC) for multifingered handsThomas Wimböck, Christian Ott, Gerd Hirzinger. icra 2008: 278-284 [doi]

A new variable stiffness design: Matching requirements of the next robot generationSebastian Wolf, Gerd Hirzinger. icra 2008: 1741-1746 [doi]

Positioning mobile manipulators to perform constrained linear trajectoriesFranziska Zacharias, Christoph Borst, Michael Beetz, Gerd Hirzinger. iros 2008: 2578-2584 [doi]

2007

A humanoid upper body system for two-handed manipulationChristoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, Ulrich Hillenbrand, Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger. icra 2007: 2766-2767 [doi]

Stability Boundary for Haptic Rendering: Influence of Damping and DelayJorge Juan Gil, Emilio Sánchez, Thomas Hulin, Carsten Preusche, Gerd Hirzinger. icra 2007: 124-129 [doi]

Energy-efficient Autonomous Four-rotor Flying Robot Controlled at 1 kHzDaniel Gurdan, Jan Stumpf, Michael Achtelik, Klaus-Michael Doth, Gerd Hirzinger, Daniela Rus. icra 2007: 361-366 [doi]

Eine neue Robotergeneration für Raumfahrt, Dienstleistung und Chirurgie (A new Roboter-Generation for Space, Service and Surgery)Gerd Hirzinger. it, 49(4):247, 2007. [doi]

Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated jointsGianluca Palli, Claudio Melchiorri, Thomas Wimböck, Markus Grebenstein, Gerd Hirzinger. icra 2007: 4367-4372 [doi]

An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar PartsAndreas Stemmer, Alin Albu-Schäffer, Gerd Hirzinger. icra 2007: 317-323 [doi]

The 3D-Modeller: A Multi-Purpose Vision PlatformMichael Suppa, Simon Kielhofer, Jörg Langwald, Franz Hacker, Klaus H. Strobl, Gerd Hirzinger. icra 2007: 781-787 [doi]

MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint CouplingLuc Le Tien, Alin Albu-Schäffer, Gerd Hirzinger. icra 2007: 3824-3830 [doi]

Dynamics of step-climbing with deformable wheels and applications for mobile RoboticsAlexander Wilhelm, William W. Melek, Jan Paul Huissoon, Christopher Michael Clark, Gerd Hirzinger, Norbert Sporer, Matthias Fuchs. iros 2007: 783-788 [doi]

Capturing robot workspace structure: representing robot capabilitiesFranziska Zacharias, Christoph Borst, Gerd Hirzinger. iros 2007: 3229-3236 [doi]

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