Search Results - "HIRZINGER, G"

On the Passivity-Based Impedance Control of Flexible Joint Robots by Ott, C., Albu-Schaffer, A., Kugi, A., Hirzinger, G.

“…In this paper, a novel type of impedance controllers for flexible joint robots is proposed. As a target impedance, a desired stiffness and damping are…”
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The DLR lightweight robot: design and control concepts for robots in human environments by Albu-Schäffer, A., Haddadin, S., Ott, Ch, Stemmer, A., Wimböck, T., Hirzinger, G.

“…Purpose - The paper seeks to present a new generation of torque-controlled light-weight robots (LWR) developed at the Institute of Robotics and Mechatronics of…”
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Soft robotics by Albu-Schaffer, A., Eiberger, O., Grebenstein, M., Haddadin, S., Ott, C., Wimbock, T., Wolf, S., Hirzinger, G.

“…In this article, we gave an overview on the DLR activities related to two approaches for the realization of soft robotics: actively torque-controlled LWRs and…”
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Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy by Dietrich, A., Wimbock, T., Albu-Schaffer, A., Hirzinger, G.

“…Reactively dealing with self-collisions is an important requirement on multidegree-of-freedom robots in unstructured and dynamic environments. Classical…”
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The Modular Multisensory DLR-HIT-Hand: Hardware and Software Architecture by Hong Liu, Meusel, P., Hirzinger, G., Minghe Jin, Yiwei Liu, Zongwu Xie

“…This paper presents hardware and software architecture of the newly developed compact multisensory German aerospace research (DLR)-Harbin Institute of…”
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Bipedal walking control based on Capture Point dynamics by Englsberger, Johannes, Ott, C., Roa, M. A., Albu-Schaffer, Alin, Hirzinger, G.

“…This paper builds up on the Capture Point concept and exploits the simple form of the dynamical equations of the Linear Inverted Pendulum model when formulated…”
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Development of actuated and sensor integrated forceps for minimally invasive robotic surger by Kuebler, B, Seibold, U, Hirzinger, G

“…In minimally invasive surgery (MIS) the patient's skin forms a spatial barrier between the operation area and the surgeon. This prevents direct access to the…”
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DLR MiroSurge: a versatile system for research in endoscopic telesurgery by Hagn, Ulrich, Konietschke, R., Tobergte, A., Nickl, M., Jörg, S., Kübler, B., Passig, G., Gröger, M., Fröhlich, F., Seibold, U., Le-Tien, L., Albu-Schäffer, A., Nothhelfer, A., Hacker, F., Grebenstein, M., Hirzinger, G.

“…Purpose Research on surgical robotics demands systems for evaluating scientific approaches. Such systems can be divided into dedicated and versatile systems…”
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The modular multisensory DLR-HIT-Hand by Liu, H., Meusel, P., Seitz, N., Willberg, B., Hirzinger, G., Jin, M.H., Liu, Y.W., Wei, R., Xie, Z.W.

“…The paper presents hardware and software architecture of the new developed compact multisensory DLR-HIT hand. The hand has four identical fingers and an extra…”
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Time domain passivity control with reference energy following by Jee-Hwan Ryu, Preusche, C., Hannaford, B., Hirzinger, G.

“…A recently proposed method for stabilizing haptic interfaces and teleoperation systems was tested with a PHANToM commercial haptic device. The passivity…”
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The DLR MIRO: a versatile lightweight robot for surgical applications by Hagn, U., Nickl, M., Jörg, S., Passig, G., Bahls, T., Nothhelfer, A., Hacker, F., Le-Tien, L., Albu-Schäffer, A., Konietschke, R., Grebenstein, M., Warpup, R., Haslinger, R., Frommberger, M., Hirzinger, G.

“…Purpose - Surgical robotics can be divided into two groups: specialized and versatile systems. Versatile systems can be used in different surgical…”
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Motion estimation in beating heart surgery by Ortmaier, T., Groger, M., Boehm, D.H., Falk, V., Hirzinger, G.

“…Minimally invasive beating-heart surgery offers substantial benefits for the patient, compared to conventional open surgery. Nevertheless, the motion of the…”
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A Differentially Flat Open-Chain Space Robot with Arbitrarily Oriented Joint Axes and Two Momentum Wheels at the Base by Agrawal, S.K., Pathak, K., Franch, J., Lampariello, R., Hirzinger, G.

“…The motion of a free-floating space robot is characterized by the principle of conservation of angular momentum. It is well known that these angular momentum…”
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Telemanipulator for remote minimally invasive surgery by Hagn, U., Ortmaier, T., Konietschke, R., Kubler, B., Seibold, U., Tobergte, A., Nickl, M., Jorg, S., Hirzinger, G.

“…The requirements for an ideal telemanipulator (i.e., robot and surgical instrument) are derived. An overview on telemanipulators reported in literature is…”
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On-orbit servicing by Stoll, E., Letschnik, J., Walter, U., Artigas, J., Kremer, P., Preusche, C., Hirzinger, G.

“…Space robots were the topic of this paper. While on earth, nobody would follow such advice; in space, there are few other options than to replace a…”
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Surflet-pair-relation histograms: a statistical 3D-shape representation for rapid classification by Wahl, E., Hillenbrand, U., Hirzinger, G.

“…A statistical representation of three-dimensional shapes is introduced, based on a novel four-dimensional feature. The feature parameterizes the intrinsic…”
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DLR MiroSurge: a versatile system for research in endoscopic telesurgery by Hagn, Ulrich, Konietschke, R., Tobergte, A., Nickl, M., Jörg, S., Kübler, B., Passig, G., Gröger, M., Fröhlich, F., Seibold, U., Le-Tien, L., Albu-Schäffer, A., Nothhelfer, A., Hacker, F., Grebenstein, M., Hirzinger, G.

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The DLR-KUKA Success Story by Hirzinger, G., Bals, J., Otter, M., Stelter, J.

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The DLR Crawler: evaluation of gaits and control of an actively compliant six-legged walking robot by Görner, M., Wimböck, T., Hirzinger, G.

“…Purpose - The purpose of this paper is to present and evaluate methods of control and gait generation for the DLR Crawler - a six-legged walking robot…”
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Programming by touch: the different way of human-robot interaction by Grunwald, G., Schreiber, G., Albu-Schaffer, A., Hirzinger, G.

“…Mobile service robots will share their workspaces, e.g., offices, hospitals, or households, with humans. Thus, a direct contact between man and machine is…”
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