Alexander Dietrich

72 papers A* 13A 10C 3Journal 37Unranked 8

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Robot Tracking Control With Natural Task-Space Decoupling. IEEE Trans. Robotics Alexander Dietrich, Xuwei Wu, Maged Iskandar, Alin Albu-Schäffer
2025	J	`jnl`	Enhancing the Force Transparency of the Energy-Reflection-Based Time-Domain Passivity Approach. IEEE Trans. Control. Syst. Technol. Michael Panzirsch, Harsimran Singh, Xiao Xu, Alexander Dietrich, Thomas Hulin, Eckehard G. Steinbach, Alin Albu-Schäffer
2025	J	`jnl`	Interpretable Robotic Friction Learning via Symbolic Regression. CoRR Philipp Scholl, Alexander Dietrich, Sebastian Wolf, Jinoh Lee, Alin Albu-Schäffer, Gitta Kutyniok, Maged Iskandar
2025	J	`jnl`	Variable Stiffness Actuation via 3D-Printed Nonlinear Torsional Springs. IEEE Robotics Autom. Lett. Hannes Höppner, Annika Kirner, Joshua Göttlich, Linnéa Jakob, Alexander Dietrich, Christian Ott
2024	J	`jnl`	Corrigendum to "Learning-based adaption of robotic friction models" [Robotics and Computer-Integrated Manufacturing Volume 89, October 2024]. Robotics Comput. Integr. Manuf. Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok
2024	J	`jnl`	Extension of the Deflection-Domain Passivity Approach for Variable Stiffnesses to SO(3). IEEE Robotics Autom. Lett. Michael Panzirsch, Harsimran Singh, Marek Sierotowicz, Alexander Dietrich
2024	J	`jnl`	Intrinsic sense of touch for intuitive physical human-robot interaction. Sci. Robotics Maged Iskandar, Alin Albu-Schäffer, Alexander Dietrich
2024	J	`jnl`	Learning-based adaption of robotic friction models. Robotics Comput. Integr. Manuf. Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok
2024	J	`jnl`	On passivity-based trajectory tracking for robotic manipulators combining PD+ and Slotine-Li control. Autom. Kristin Lakatos, Dominic Lakatos, Xuwei Wu, Paul Kotyczka, Alexander Dietrich
2024	A*	`conf`	Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions. ICRA Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich
2024	—	`conf`	The Role of Ego-Involvement in Evaluating AI Creativity. ECIS Deborah Naomi Mateja, Maria Suddenko, Monica Fallon, Alexander Dietrich, Armin Heinzl
2023	C	`conf`	Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments. ISM Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjin Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard
2023	J	`jnl`	Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments. CoRR Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjin Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard
2023	A	`conf`	Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots. IROS Marie Harder, Maged Iskandar, Jinoh Lee, Alexander Dietrich
2023	J	`jnl`	Hybrid Force-Impedance Control for Fast End-Effector Motions. IEEE Robotics Autom. Lett. Maged Iskandar, Christian Ott, Alin Albu-Schäffer, Bruno Siciliano, Alexander Dietrich
2023	J	`jnl`	Learning-based adaption of robotic friction models. CoRR Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok
2023	J	`jnl`	Model Predictive Control Applied to Different Time-Scale Dynamics of Flexible Joint Robots. IEEE Robotics Autom. Lett. Maged Iskandar, Christiaan van Ommeren, Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich
2023	J	`jnl`	Passive Decoupled Multitask Controller for Redundant Robots. IEEE Trans. Control. Syst. Technol. Xuwei Wu, Christian Ott, Alin Albu-Schäffer, Alexander Dietrich
2022	C	`conf`	A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot. ACC Xuwei Wu, Christian Ott, Alexander Dietrich
2022	J	`jnl`	A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement. IEEE Robotics Autom. Lett. Jens Reinecke, Alexander Dietrich, Anton Leonhard Shu, Bastian Deutschmann, Marco Hutter
2022	J	`jnl`	Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators. IEEE Robotics Autom. Lett. Xuwei Wu, Annika Kirner, Gianluca Garofalo, Christian Ott, Paul Kotyczka, Alexander Dietrich
2022	J	`jnl`	Model Predictive Control for Flexible Joint Robots. CoRR Maged Iskandar, Christiaan van Ommeren, Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich
2022	—	`conf`	Open Source Tendon-driven Continuum Mechanism: A Platform for Research in Soft Robotics. RoboSoft Bastian Deutschmann, Jens Reinecke, Alexander Dietrich
2022	J	`jnl`	Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators. IEEE Robotics Autom. Lett. Marie Harder, Manuel Keppler, Xuming Meng, Christian Ott, Hannes Höppner, Alexander Dietrich
2021	J	`jnl`	An Ecosystem for Heterogeneous Robotic Assistants in Caregiving: Core Functionalities and Use Cases. IEEE Robotics Autom. Mag. Jörn Vogel, Daniel Leidner, Annette Hagengruber, Michael Panzirsch, Berthold Bäuml, Maximilian Denninger, Ulrich Hillenbrand, Lioba Suchenwirth, Peter Schmaus, Marco Sewtz, Adrian Simon Bauer, Thomas Hulin, Maged Iskandar, Gabriel Quere, Alin Albu-Schäffer, Alexander Dietrich
2021	A*	`conf`	Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy. ICRA Maged Iskandar, Oliver Eiberger, Alin Albu-Schäffer, Alessandro De Luca, Alexander Dietrich
2021	J	`jnl`	Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases. Frontiers Robotics AI Thomas Hulin, Michael Panzirsch, Harsimran Singh, Andre Coelho, Ribin Balachandran, Aaron Pereira, Bernhard M. Weber, Nicolai Bechtel, Cornelia Riecke, Bernhard Brunner, Neal Y. Lii, Julian Klodmann, Anja Hellings, Katharina Hagmann, Gabriel Quere, Adrian Simon Bauer, Marek Sierotowicz, Roberto Lampariello, Jörn Vogel, Alexander Dietrich, Daniel Leidner, Christian Ott, Gerd Hirzinger, Alin Albu-Schäffer
2021	J	`jnl`	Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. J. Intell. Robotic Syst. Andre Coelho, Yuri S. Sarkisov, Xuwei Wu, Hrishik Mishra, Harsimran Singh, Alexander Dietrich, Antonio Franchi, Konstantin Kondak, Christian Ott
2020	J	`jnl`	An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation. IEEE Robotics Autom. Lett. Jens Reinecke, Bastian Deutschmann, Alexander Dietrich, Marco Hutter
2020	J	`jnl`	Coordination of thrusters, reaction wheels, and arm in orbital robots. Robotics Auton. Syst. Alessandro M. Giordano, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2020	A	`conf`	EDAN: An EMG-controlled Daily Assistant to Help People With Physical Disabilities. IROS Jörn Vogel, Annette Hagengruber, Maged Iskandar, Gabriel Quere, Ulrike Leipscher, Samuel Bustamante-Gomez, Alexander Dietrich, Hannes Höppner, Daniel Leidner, Alin Albu-Schäffer
2020	J	`jnl`	Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots. IEEE Trans. Robotics Alexander Dietrich, Christian Ott
2020	A	`conf`	Joint-Level Control of the DLR Lightweight Robot SARA. IROS Maged Iskandar, Christian Ott, Oliver Eiberger, Manuel Keppler, Alin Albu-Schäffer, Alexander Dietrich
2020	—	`conf`	MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. Robotics: Science and Systems Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2020	C	`conf`	Numerical Simulation Of Condensing Ammonia In Plate Heat Exchangers Using CFD. ECMS Alexander Dietrich, Mario Nowitzki, Ron van de Sand, Joerg Reiff-Stephan
2019	A	`conf`	Employing Whole-Body Control in Assistive Robotics. IROS Maged Iskandar, Gabriel Quere, Annette Hagengruber, Alexander Dietrich, Jörn Vogel
2019	A*	`conf`	Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees. ICRA Bernd Henze, Máximo A. Roa, Alexander Werner, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2018	J	`jnl`	A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism. IEEE Robotics Autom. Lett. Bastian Deutschmann, Tong Liu, Alexander Dietrich, Christian Ott, Dongheui Lee
2018	—	`conf`	Robust SyRoCo Anton Leonhard Shu, Bastian Deutschmann, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2018	J	`jnl`	The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case. IEEE Robotics Autom. Lett. Alexander Dietrich, Christian Ott, Jaeheung Park
2018	A*	`conf`	Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation. ICRA Kristin Bussmann, Alexander Dietrich, Christian Ott
2017	A	`conf`	Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators. IROS Nico Mansfeld, Fabian Beck, Alexander Dietrich, Sami Haddadin
2017	A	`conf`	Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts. IROS Bernd Henze, Alexander Dietrich, Máximo A. Roa, Christian Ott
2017	J	`jnl`	Passive Hierarchical Impedance Control Via Energy Tanks. IEEE Robotics Autom. Lett. Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Christian Ott, Alin Albu-Schäffer, Stefano Stramigioli
2017	—	`conf`	Position control of an underactuated continuum mechanism using a reduced nonlinear model. CDC Bastian Deutschmann, Alexander Dietrich, Christian Ott
2016	J	`jnl`	An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. IEEE Robotics Autom. Lett. Bernd Henze, Alexander Dietrich, Christian Ott
2016	J	`jnl`	Knowledge-enabled parameterization of whole-body control strategies for compliant service robots. Auton. Robots Daniel Leidner, Alexander Dietrich, Michael Beetz, Alin Albu-Schäffer
2016	A*	`conf`	Online motion generation for mirroring human arm motion. ICRA Roman Weitschat, Alexander Dietrich, Jörn Vogel
2016	J	`jnl`	Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks. IEEE Robotics Autom. Lett. Alexander Dietrich, Christian Ott, Stefano Stramigioli
2016	—	`book`	Whole-Body Impedance Control of Wheeled Humanoid Robots Alexander Dietrich
2016	J	`jnl`	Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin. Auton. Robots Alexander Dietrich, Kristin Bussmann, Florian Petit, Paul Kotyczka, Christian Ott, Boris Lohmann, Alin Albu-Schäffer
2015	J	`jnl`	An overview of null space projections for redundant, torque-controlled robots. Int. J. Robotics Res. Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2015	A	`conf`	Classifying compliant manipulation tasks for automated planning in robotics. IROS Daniel Leidner, Christoph Borst, Alexander Dietrich, Michael Beetz, Alin Albu-Schäffer
2015	J	`jnl`	Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots. IEEE Robotics Autom. Mag. Florian Petit, Alexander Dietrich, Alin Albu-Schäffer
2015	J	`jnl`	Prioritized multi-task compliance control of redundant manipulators. Autom. Christian Ott, Alexander Dietrich, Alin Albu-Schäffer
2014	A*	`conf`	Experimental comparison of slip detection strategies by tactile sensing with the BioTac ICRA Jens Reinecke, Alexander Dietrich, Florian Schmidt, Maxime Chalon
2014	A*	`conf`	Jumping control for compliantly actuated multilegged robots. ICRA Dominic Lakatos, Gianluca Garofalo, Alexander Dietrich, Alin Albu-Schäffer
2014	A*	`conf`	Object-centered hybrid reasoning for whole-body mobile manipulation. ICRA Daniel Leidner, Alexander Dietrich, Florian Schmidt, Christoph Borst, Alin Albu-Schäffer
2014	J	`jnl`	The Thumb of the Anthropomorphic Awiwi Hand: From Concept to Evaluation. Int. J. Humanoid Robotics Maxime Chalon, Alexander Dietrich, Markus Grebenstein
2014	—	`conf`	Torque-based multi-task and balancing control for humanoid robots. URAI Christian Ott, Alexander Dietrich, Máximo A. Roa
2014	A*	`conf`	Workspace analysis for a kinematically coupled torso of a torque controlled humanoid robot. ICRA Alexander Dietrich, Melanie Kimmel, Thomas Wimböck, Sandra Hirche, Alin Albu-Schäffer
2013	A	`conf`	A modally adaptive control for multi-contact cyclic motions in compliantly actuated robotic systems. IROS Dominic Lakatos, Martin Görner, Florian Petit, Alexander Dietrich, Alin Albu-Schäffer
2013	A	`conf`	Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability. IROS Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2012	—	`conf`	Fischkopp. SIGGRAPH Asia Computer Animation Festival Alexander Dietrich, Dominic Eise, Johannes Flick
2012	J	`jnl`	Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy. IEEE Trans. Robotics Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger
2012	A*	`conf`	On continuous null space projections for torque-based, hierarchical, multi-objective manipulation. ICRA Alexander Dietrich, Alin Albu-Schäffer, Gerd Hirzinger
2012	J	`jnl`	Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom. IEEE Robotics Autom. Mag. Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger
2011	A*	`conf`	Catching flying balls and preparing coffee: Humanoid Rollin'Justin performs dynamic and sensitive tasks. ICRA Berthold Bäuml, Florian Schmidt, Thomas Wimböck, Oliver Birbach, Alexander Dietrich, Matthias Fuchs, Werner Friedl, Udo Frese, Christoph Borst, Markus Grebenstein, Oliver Eiberger, Gerd Hirzinger
2011	—	`conf`	Catching flying balls with a mobile humanoid: System overview and design considerations. Humanoids Berthold Bäuml, Oliver Birbach, Thomas Wimböck, Udo Frese, Alexander Dietrich, Gerd Hirzinger
2011	A	`conf`	Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws. IROS Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer
2011	A*	`conf`	Extensions to reactive self-collision avoidance for torque and position controlled humanoids. ICRA Alexander Dietrich, Thomas Wimböck, Holger Täubig, Alin Albu-Schäffer, Gerd Hirzinger
2011	A*	`conf`	Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint. ICRA Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger