Alin Albu-Schäffer

340 papers A* 67A 56B 2C 13Journal 156Unranked 44

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	An Ergodic Approach to Robotic Surface Finishing With Learned Motion Preferences. IEEE Trans. Robotics Stefan Schneyer, Korbinian Nottensteiner, Alin Albu-Schäffer, Freek Stulp, João Silvério
2026	J	`jnl`	Are Foundation Models the Route to Full-Stack Transfer in Robotics? CoRR Freek Stulp, Samuel Bustamante, João Silvério, Alin Albu-Schäffer, Jeannette Bohg, Shuran Song
2026	J	`jnl`	Centroidal Angular Momentum-Aware Planning for Legged Locomotion Integrating 3D-DCM and Swing-Leg Trajectory Optimization. IEEE Robotics Autom. Lett. Robert Schuller, George Mesesan, Johannes Englsberger, Jinoh Lee, Alin Albu-Schäffer
2026	J	`jnl`	Discovering Optimal Natural Gaits of Dissipative Systems via Virtual Energy Injection. IEEE Robotics Autom. Lett. Korbinian Griesbauer, Davide Calzolari, Maximilian Raff, C. David Remy, Alin Albu-Schäffer
2026	J	`jnl`	Exciting families of passive gaits in an elastic quadruped via natural motion manifold control. Int. J. Robotics Res. Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer
2026	J	`jnl`	Finger flow: Reactive reach-while-grasp generation for robotic arms with multi-fingered hands. Robotics Auton. Syst. Xuming Meng, Henry Maurenbrecher, Alin Albu-Schäffer, Manuel Keppler
2026	J	`jnl`	IROSA: Interactive Robot Skill Adaptation Using Natural Language. IEEE Robotics Autom. Lett. Markus Knauer, Samuel Bustamante-Gomez, Thomas Eiband, Alin Albu-Schäffer, Freek Stulp, João Silvério
2026	J	`jnl`	IROSA: Interactive Robot Skill Adaptation using Natural Language. CoRR Markus Knauer, Samuel Bustamante, Thomas Eiband, Alin Albu-Schäffer, Freek Stulp, João Silvério
2026	J	`jnl`	Robot Tracking Control With Natural Task-Space Decoupling. IEEE Trans. Robotics Alexander Dietrich, Xuwei Wu, Maged Iskandar, Alin Albu-Schäffer
2026	J	`jnl`	SPIRIT: Perceptive Shared Autonomy for Robust Robotic Manipulation under Deep Learning Uncertainty. CoRR Jongseok Lee, Ribin Balachandran, Harsimran Singh, Jianxiang Feng, Hrishik Mishra, Marco De Stefano, Rudolph Triebel, Alin Albu-Schäffer, Konstantin Kondak
2026	J	`jnl`	Transferability Through Cooperative Competitions. CoRR Rodrigo Serra, Carlos Azevedo, André Silva, Kevin Alcedo, Quentin Rouxel, Peter So, Alejandro Suárez, Alin Albu-Schäffer, Pedro U. Lima
2025	J	`jnl`	A Unified Framework for Probabilistic Dynamic-, Trajectory- and Vision-based Virtual Fixtures. CoRR Maximilian Mühlbauer, Freek Stulp, Sylvain Calinon, Alin Albu-Schäffer, João Silvério
2025	J	`jnl`	A roadmap for AI in robotics. CoRR Aude Billard, Alin Albu-Schäffer, Michael Beetz, Wolfram Burgard, Peter Corke, Matei T. Ciocarlie, Ravinder Dahiya, Danica Kragic, Ken Goldberg, Yukie Nagai, Davide Scaramuzza
2025	J	`jnl`	Discovering Optimal Natural Gaits of Dissipative Systems via Virtual Energy Injection. CoRR Korbinian Griesbauer, Davide Calzolari, Maximilian Raff, C. David Remy, Alin Albu-Schäffer
2025	J	`jnl`	Door-to-Door Parcel Delivery From Supply Point to User's Home With Heterogeneous Robot Team: The euROBIN First-Year Robotics Hackathon. IEEE Robotics Autom. Mag. Alejandro Suárez, Rainer Kartmann, Daniel Leidner, Luca Rossini, Johann Huber, Carlos Azevedo, Quentin Rouxel, Marko Bjelonic, Antonio González-Morgado, Christian R. G. Dreher, Peter Schmaus, Arturo Laurenzi, François Hélénon, Rodrigo Serra, Jean-Baptiste Mouret, Lorenz Wellhausen, Vicente Perez-Sanchez, Jianfeng Gao, Adrian Simon Bauer, Alessio De Luca, Mouad Abrini, Rui Bettencourt, Olivier Rochel, Joonho Lee, Pablo Viana, Christoph Pohl, Nesrine Batti, Diego Vedelago, Vamsi Krishna Guda, Alexander Reske, Carlos Álvarez-Cía, Fabian Reister, Werner Friedl, Corrado Burchielli, Aline Baudry, Fabian Peller-Konrad, Thomas Gumpert, Luca Muratore, Philippe Gauthier, Franziska Krebs, Sebastian Jung, Lorenzo Baccelliere, Hippolyte Watrelot, André Meixner, Anne Köpken, Mohamed Chetouani, Pascal Weiner, Florian Lay, Felix Hundhausen, Anne E. Reichert, Noémie Jaquier, Florian Schmidt, Marco Sewtz, Freek Stulp, Lioba Suchenwirth, Rudolph Triebel, Xuwei Wu, Begoña C. Arrue, Rebecca Schedl-Warpup, Marco Hutter, Serena Ivaldi, Pedro U. Lima, Stéphane Doncieux, Nikos G. Tsagarakis, Tamim Asfour, Aníbal Ollero, 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	A	`conf`	Extraction of Robotic Surface Processing Strategies from Human Demonstrations. IROS Thomas Eiband, Lars Leimbach, Korbinian Nottensteiner, Alin Albu-Schäffer
2025	J	`jnl`	Human-Robot Interaction: Successes, Hurdles, and Remaining Challenges [Opinion]. IEEE Robotics Autom. Mag. Aude Billard, Alin Albu-Schäffer, Rachid Alami, Tamim Asfour, Gordon Cheng, Serena Ivaldi, Christophe Leroux, Danica Kragic, Astrid M. Rosenthal-von der Pütten, Nicola Nosengo, Chiara Sabelli
2025	J	`jnl`	Interactive Incremental Learning of Generalizable Skills With Local Trajectory Modulation. IEEE Robotics Autom. Lett. Markus Knauer, Alin Albu-Schäffer, Freek Stulp, João Silvério
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`	Motion Planning for Humanoid Locomotion: Applications to Homelike Environments. IEEE Robotics Autom. Mag. George Mesesan, Robert Schuller, Johannes Englsberger, Máximo A. Roa, Jinoh Lee, Christian Ott, Alin Albu-Schäffer
2025	—	`conf`	Optimal Orbit Stabilization by Approximating Lagrangian Submanifolds with Neural Networks. CDC Fabian Beck, Julius Horsch, Alin Albu-Schäffer
2025	A*	`conf`	RACCOON: Grounding Embodied Question-Answering with State Summaries from Existing Robot Modules. ICRA Samuel Bustamante-Gomez, Markus Knauer, Jeremias Thun, Stefan Schneyer, Alin Albu-Schäffer, Bernhard M. Weber, Freek Stulp
2025	J	`jnl`	Shared control in assistive robotics: A Cybathlon-winning approach. Sci. Robotics Jörn Vogel, Mattias Atzenhofer, Gabriel Quere, Maged Iskandar, Miriam Welser, Felix Schiel, Sebastian Jung, Samuel Bustamante-Gomez, Werner Friedl, Wout Boerdijk, Freek Stulp, Alin Albu-Schäffer, Annette Hagengruber
2025	A*	`conf`	VSB - Variable Stiffness Based on Bowden Cables: A Simple Mechanism for Soft Robotic Hands. ICRA Steffen Puhlmann, Alin Albu-Schäffer, Hannes Höppner
2025	J	`jnl`	Virtual elasto-plastic robot compliance to active environments. Sci. Robotics Michael Panzirsch, Harsimran Singh, Xuwei Wu, Maged Iskandar, Anne Köpken, Rute Luz, Nesrine Batti, Florian Samuel Lay, Ajithkumar Narayanan Manaparampil, Luisa Mayershofer, Xiaozhou Luo, Robert Burger, Samuel Bustamante-Gomez, Jörg Butterfaß, Emiel Boudewijn den Exter, Werner Friedl, Thomas Gumpert, Pedro Pavelski, Gabriel Quere, Florian Schmidt, Alin Albu-Schäffer, Adrian Simon Bauer, Daniel Leidner, Peter Schmaus, Annette Hagengruber, Thomas Krüger, Jörn Vogel, Neal Y. Lii
2025	J	`jnl`	When do Lyapunov Subcenter Manifolds become Eigenmanifolds? CoRR Yannik P. Wotte, Arne Sachtler, Alin Albu-Schäffer, Stefano Stramigioli, Cosimo Della Santina
2024	J	`jnl`	A Probabilistic Approach to Multi-Modal Adaptive Virtual Fixtures. IEEE Robotics Autom. Lett. Maximilian Mühlbauer, Thomas Hulin, Bernhard M. Weber, Sylvain Calinon, Freek Stulp, Alin Albu-Schäffer, João Silvério
2024	J	`jnl`	A Tree-Based World Model for Reducing System Complexity in Autonomous Mobile Manipulation. IEEE Robotics Autom. Lett. Ryo Sakagami, Andreas Dömel, Peter Lehner, Sebastian Riedel, Sebastian G. Brunner, Alin Albu-Schäffer, Freek Stulp
2024	J	`jnl`	AI-enabled Cyber-Physical In-Orbit Factory - AI approaches based on digital twin technology for robotic small satellite production. CoRR Florian Leutert, David Bohlig, Florian Kempf, Klaus Schilling, Maximilian Mühlbauer, Bengisu Ayan, Thomas Hulin, Freek Stulp, Alin Albu-Schäffer, Vladimir Kutscher, Christian Plesker, Thomas Dasbach, Stephan Damm, Reiner Anderl, Benjamin Schleich
2024	J	`jnl`	An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks. RLJ Antonin Raffin, Olivier Sigaud, Jens Kober, Alin Albu-Schäffer, João Silvério, Freek Stulp
2024	J	`jnl`	An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints. Frontiers Robotics AI Robert Schuller, Jens Reinecke, Henry Maurenbrecher, Christian Ott, Alin Albu-Schäffer, Bastian Deutschmann, Fred Buettner, Jens Heim, Frank Benkert, Stefan Glueck
2024	J	`jnl`	CoFlex TOP: A Teleoperation System for Flexible Ureteroscopy. IEEE Robotics Autom. Lett. Christopher Schlenk, Anja Hellings-Kuß, Katharina Hagmann, Nikola Budjakoski, Laura Oliva-Maza, Julian Klodmann, Sebastian Müller-Spahn, Florian Steidle, Arkadiusz Miernik, Alin Albu-Schäffer
2024	—	`conf`	Comparison of Control Strategies to Excite Intrinsic Oscillations in a SEA-Driven Robotic Joint. ECC Annika Schmidt, Filip Pasic, Davide Calzolari, Arne Sachtler, Thomas Gumpert, Manuel Keppler, Alin Albu-Schäffer
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`	Feasibility Checking and Constraint Refinement for Shared Control in Assistive Robotics. IEEE Robotics Autom. Lett. Samuel Bustamante-Gomez, Ismael Rodríguez, Gabriel Quere, Peter Lehner, Maged Iskandar, Daniel Leidner, Andreas Dömel, Alin Albu-Schäffer, Jörn Vogel, Freek Stulp
2024	J	`jnl`	Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks. PLoS Comput. Biol. Annika Schmidt, Marion Forano, Arne Sachtler, Davide Calzolari, Bernhard M. Weber, David W. Franklin, Alin Albu-Schäffer
2024	J	`jnl`	Interactive incremental learning of generalizable skills with local trajectory modulation. CoRR Markus Knauer, Alin Albu-Schäffer, Freek Stulp, João Silvério
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	—	`conf`	Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots. RoboSoft Pietro Pustina, Davide Calzolari, Alin Albu-Schäffer, Alessandro De Luca, Cosimo Della Santina
2024	J	`jnl`	Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots. CoRR Pietro Pustina, Davide Calzolari, Alin Albu-Schäffer, Alessandro De Luca, Cosimo Della Santina
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	J	`jnl`	Software for the SpaceDREAM Robotic Arm. CoRR Maximilian Mühlbauer, Maxime Chalon, Maximilian Ulmer, Alin Albu-Schäffer
2024	—	`conf`	Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes. ECC Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
2024	J	`jnl`	Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes. CoRR Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
2024	B	`conf`	Tele-Running: Trajectory Generation for Monopod Robots by Teleoperation. SMC David Wandinger, Annika Schmidt, Antonin Raffin, Alin Albu-Schäffer, Manuel Keppler
2024	—	`conf`	Torque Controlled or Intrinsically Compliant? DLR's Perspective on Robust and Efficient Biped and Quadruped Locomotion. CLAWAR (1) Alin Albu-Schäffer
2023	J	`jnl`	A Rigid Body Observer (BObs) Considering Pfaffian Constraints With a Pose Regulation Framework. IEEE Control. Syst. Lett. Michael Rothammer, Andre Coelho, Hrishik Mishra, Christian Ott, Antonio Franchi, Alin Albu-Schäffer
2023	J	`jnl`	A Simple Open-Loop Baseline for Reinforcement Learning Locomotion Tasks. CoRR Antonin Raffin, Olivier Sigaud, Jens Kober, Alin Albu-Schäffer, João Silvério, Freek Stulp
2023	J	`jnl`	A robotic system for solo surgery in flexible ureteroscopy: development and evaluation with clinical users. Int. J. Comput. Assist. Radiol. Surg. Christopher Schlenk, Katharina Hagmann, Florian Steidle, Laura Oliva-Maza, Alexander Kolb, Anja Hellings-Kuß, Dominik Stefan Schöb, Julian Klodmann, Arkadiusz Miernik, Alin Albu-Schäffer
2023	J	`jnl`	Automated robotic intraoperative ultrasound for brain surgery. CoRR Michael Dyck, Alistair Weld, Julian Klodmann, Alexander Kirst, Giulio Anichini, Luke Dixon, Sophie Camp, Stamatia Giannarou, Alin Albu-Schäffer
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	J	`jnl`	Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery. CoRR Alistair Weld, Michael Dyck, Julian Klodmann, Giulio Anichini, Luke Dixon, Sophie Camp, Alin Albu-Schäffer, Stamatia Giannarou
2023	J	`jnl`	CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning. IEEE Robotics Autom. Lett. Javier Muñoz, Peter Lehner, Luis Moreno, Alin Albu-Schäffer, Máximo A. Roa
2023	J	`jnl`	EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. CoRR Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi
2023	J	`jnl`	Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped. IEEE Robotics Autom. Lett. Davide Calzolari, Cosimo Della Santina, Alessandro M. Giordano, Annika Schmidt, Alin Albu-Schäffer
2023	—	`conf`	Energy and angular momentum control of robot running. MED Alessandro M. Giordano, Simone Stivala, Davide Calzolari, Alin Albu-Schäffer
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
2023	J	`jnl`	Redundancy Resolution at Position Level. IEEE Trans. Robotics Alin Albu-Schäffer, Arne Sachtler
2023	J	`jnl`	Robotic world models - conceptualization, review, and engineering best practices. Frontiers Robotics AI Ryo Sakagami, Florian Samuel Lay, Andreas Dömel, Martin J. Schuster, Alin Albu-Schäffer, Freek Stulp
2023	J	`jnl`	The Bcm rule allows a spinal cord model to learn rhythmic movements. Biol. Cybern. Matthias Kohler, Florian Röhrbein, Alois Knoll, Alin Albu-Schäffer, Henrik Jörntell
2023	J	`jnl`	Towards Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery. CoRR Michael Dyck, Alistair Weld, Julian Klodmann, Alexander Kirst, Luke Dixon, Giulio Anichini, Sophie Camp, Alin Albu-Schäffer, Stamatia Giannarou
2023	J	`jnl`	Unified Motion Planner for Walking, Running, and Jumping Using the Three-Dimensional Divergent Component of Motion. IEEE Trans. Robotics George Mesesan, Robert Schuller, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2022	J	`jnl`	A Robotic System for Solo Surgery in Flexible Ureterorenoscopy. IEEE Robotics Autom. Lett. Christopher Schlenk, Julian Klodmann, Katharina Hagmann, Alexander Kolb, Anja Hellings-Kuß, Florian Steidle, Dominik Stephan Schoeb, Thorsten Jürgens, Arkadiusz Miernik, Alin Albu-Schäffer
2022	—	`conf`	EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems. CDC Andre Coelho, Alin Albu-Schäffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi
2022	J	`jnl`	Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot. IEEE Robotics Autom. Lett. Filip Bjelonic, Arne Sachtler, Alin Albu-Schäffer, Cosimo Della Santina
2022	J	`jnl`	Exploring planet geology through force-feedback telemanipulation from orbit. Sci. Robotics Michael Panzirsch, Aaron Pereira, Harsimran Singh, Bernhard M. Weber, Edmundo Ferreira, Andrei Gherghescu, Lukas Hann, Emiel Boudewijn den Exter, Frank P. J. van der Hulst, Levin Gerdes, Leonardo Cencetti, Kjetil Wormnes, Jessica Grenouilleau, William Y. C. Chen, Ribin Balachandran, Thomas Hulin, Christian Ott, Daniel Leidner, Alin Albu-Schäffer, Neal Y. Lii, Thomas Krüger
2022	J	`jnl`	Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry. IEEE Robotics Autom. Lett. Michael Dyck, Arne Sachtler, Julian Klodmann, Alin Albu-Schäffer
2022	A*	`conf`	Kinematic Transfer Learning of Sampling Distributions for Manipulator Motion Planning. ICRA Peter Lehner, Máximo A. Roa, Alin Albu-Schäffer
2022	J	`jnl`	Learning to Exploit Elastic Actuators for Quadruped Locomotion. CoRR Antonin Raffin, Daniel Seidel, Jens Kober, Alin Albu-Schäffer, João Silvério, Freek Stulp
2022	J	`jnl`	Model Predictive Control for Flexible Joint Robots. CoRR Maged Iskandar, Christiaan van Ommeren, Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich
2022	A	`conf`	Multi-Phase Multi-Modal Haptic Teleoperation. IROS Maximilian Mühlbauer, Franz Steinmetz, Freek Stulp, Thomas Hulin, Alin Albu-Schäffer
2022	A*	`conf`	Planning Natural Locomotion for Articulated Soft Quadrupeds. ICRA Mathew Jose Pollayil, Cosimo Della Santina, George Mesesan, Johannes Englsberger, Daniel Seidel, Manolo Garabini, Christian Ott, Antonio Bicchi, Alin Albu-Schäffer
2022	—	`conf`	Practical Approach to Characterize Realistic Motor Dynamics for Robotic Simulation Independent of the Use Case. AIM Annika Schmidt, Thomas Gumpert, Stefan Schreiber, Alin Albu-Schäffer
2022	J	`jnl`	Quasi-Orthogonal Foliations of the Configuration Space - A Redundancy Resolution Approach at Position Level. CoRR Alin Albu-Schäffer, Arne Sachtler
2022	J	`jnl`	SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World. Int. J. Comput. Vis. Manuel Stoiber, Martin Pfanne, Klaus H. Strobl, Rudolph Triebel, Alin Albu-Schäffer
2022	C	`conf`	Single-Leg Forward Hopping via Nonlinear Modes. ACC Davide Calzolari, Cosimo Della Santina, Alessandro M. Giordano, Alin Albu-Schäffer
2022	J	`jnl`	Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow. IEEE Robotics Autom. Lett. Arne Sachtler, Alin Albu-Schäffer
2022	J	`jnl`	Unsupervised symbol emergence for supervised autonomy using multi-modal latent Dirichlet allocations. Adv. Robotics Florian Samuel Lay, Adrian Simon Bauer, Alin Albu-Schäffer, Freek Stulp, Daniel Leidner
2022	C	`conf`	What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots? ISRR Alin Albu-Schäffer, Arne Sachtler
2022	J	`jnl`	What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots? CoRR Alin Albu-Schäffer, Arne Sachtler
2021	J	`jnl`	Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions. IEEE Robotics Autom. Lett. Cosimo Della Santina, Davide Calzolari, Alessandro Massimo Giordano, Alin Albu-Schäffer
2021	J	`jnl`	Adapting Highly-Dynamic Compliant Movements to Changing Environments: A Benchmark Comparison of Reflex- vs. CPG-Based Control Strategies. Frontiers Neurorobotics Annika Schmidt, Benedikt Feldotto, Thomas Gumpert, Daniel Seidel, Alin Albu-Schäffer, Philipp Stratmann
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`	Compliant Floating-Base Control of Space Robots. IEEE Robotics Autom. Lett. Alessandro M. Giordano, Davide Calzolari, Marco De Stefano, Hrishik Mishra, Christian Ott, Alin Albu-Schäffer
2021	J	`jnl`	Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case. IEEE Robotics Autom. Lett. Luigi Bono Bonacchi, Máximo A. Roa, Anna Sesselmann, Florian Loeffl, Alin Albu-Schäffer, Cosimo Della Santina
2021	A	`conf`	Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg. IROS Anna Sesselmann, Florian Loeffl, Cosimo Della Santina, Máximo A. Roa, Alin Albu-Schäffer
2021	J	`jnl`	Exciting Efficient Oscillations in Nonlinear Mechanical Systems Through Eigenmanifold Stabilization. IEEE Control. Syst. Lett. Cosimo Della Santina, Alin Albu-Schäffer
2021	—	`conf`	Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. CDC Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer
2021	C	`conf`	Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization. ACC Cosimo Della Santina, Alin Albu-Schäffer
2021	J	`jnl`	Exodex Adam - A Reconfigurable Dexterous Haptic User Interface for the Whole Hand. Frontiers Robotics AI Neal Y. Lii, Aaron Pereira, Julian Dietl, Georg Stillfried, Annika Schmidt, Hadi Beik-Mohammadi, Thomas Baker, Annika Maier, Benedikt Pleintinger, Zhaopeng Chen, Amal Elawad, Lauren Mentzer, Austin Pineault, Philipp Reisich, Alin Albu-Schäffer
2021	J	`jnl`	Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia. IEEE Control. Syst. Lett. Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer
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`	PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case. IEEE Control. Syst. Lett. Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer
2021	C	`conf`	PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case. ACC Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer
2021	J	`jnl`	SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World. CoRR Manuel Stoiber, Martin Pfanne, Klaus H. Strobl, Rudolph Triebel, Alin Albu-Schäffer
2021	J	`jnl`	Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference. IEEE Robotics Autom. Lett. Ribin Balachandran, Michael Panzirsch, Marco De Stefano, Harsimran Singh, Christian Ott, Alin Albu-Schäffer
2021	J	`jnl`	Strict Nonlinear Normal Modes of Systems Characterized by Scalar Functions on Riemannian Manifolds. IEEE Robotics Autom. Lett. Alin Albu-Schäffer, Dominic Lakatos, Stefano Stramigioli
2021	J	`jnl`	Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution. J. Intell. Robotic Syst. Korbinian Nottensteiner, Arne Sachtler, Alin Albu-Schäffer
2020	—	`conf`	A Sparse Gaussian Approach to Region-Based 6DoF Object Tracking. ACCV (2) Manuel Stoiber, Martin Pfanne, Klaus H. Strobl, Rudolph Triebel, Alin Albu-Schäffer
2020	J	`jnl`	A review on nonlinear modes in conservative mechanical systems. Annu. Rev. Control. Alin Albu-Schäffer, Cosimo Della Santina
2020	J	`jnl`	Adaptive Air Density Estimation for Precise Tracking Control and Accurate External Wrench Observation for Flying Robots. IEEE Robotics Autom. Lett. Moritz Maier, Manuel Keppler, Christian Ott, Alin Albu-Schäffer
2020	A*	`conf`	Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters. ICRA Ribin Balachandran, Hrishik Mishra, Matteo Cappelli, Bernhard M. Weber, Cristian Secchi, Christian Ott, Alin Albu-Schäffer
2020	A*	`conf`	Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation. ICRA Ribin Balachandran, Jee-Hwan Ryu, Mikael Jorda, Christian Ott, Alin Albu-Schäffer
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`	Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic. IEEE Robotics Autom. Lett. Davide Calzolari, Alessandro Massimo Giordano, Alin Albu-Schäffer
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	J	`jnl`	Object-Level Impedance Control for Dexterous In-Hand Manipulation. IEEE Robotics Autom. Lett. Martin Pfanne, Maxime Chalon, Freek Stulp, Helge J. Ritter, Alin Albu-Schäffer
2020	J	`jnl`	Pattern Recognition for Knowledge Transfer in Robotic Assembly Sequence Planning. IEEE Robotics Autom. Lett. Ismael Rodríguez, Korbinian Nottensteiner, Daniel Leidner, Maximilian Durner, Freek Stulp, Alin Albu-Schäffer
2020	A*	`conf`	Robust, Locally Guided Peg-in-Hole using Impedance-Controlled Robots. ICRA Korbinian Nottensteiner, Freek Stulp, Alin Albu-Schäffer
2020	—	`conf`	Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots. ISER Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer
2019	A*	`conf`	A Coordinate-based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots. ICRA Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl, Florian Schmidt, Daniel Seidel, Alin Albu-Schäffer
2019	J	`jnl`	Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation. Robotics Auton. Syst. Daniel Leidner, Georg Bartels, Wissam Bejjani, Alin Albu-Schäffer, Michael Beetz
2019	—	`conf`	Combined Visual and Touch-based Sensing for the Autonomous Registration of Objects with Circular Features. ICAR Arne Sachtler, Korbinian Nottensteiner, Michael Kaßecker, Alin Albu-Schäffer
2019	J	`jnl`	Coordinated Control of Spacecraft's Attitude and End-Effector for Space Robots. IEEE Robotics Autom. Lett. Alessandro Massimo Giordano, Christian Ott, Alin Albu-Schäffer
2019	—	`conf`	Design of a robotic instrument for minimally invasive waterjet surgery. ISMR Christopher Schlenk, Andrea Schwier, Michael Heiss, Thomas Bahls, Alin Albu-Schäffer
2019	—	`conf`	Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control. Humanoids George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2019	A*	`conf`	Exact Modal Characterization of the Non Conservative Non Linear Radial Mass Spring System. ICRA Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer
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
2019	J	`jnl`	Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning. IEEE Robotics Autom. Lett. Ismael Rodríguez, Korbinian Nottensteiner, Daniel Leidner, Michael Kaßecker, Freek Stulp, Alin Albu-Schäffer
2019	J	`jnl`	Model-Free Friction Observers for Flexible Joint Robots With Torque Measurements. IEEE Trans. Robotics Min Jun Kim, Fabian Beck, Christian Ott, Alin Albu-Schäffer
2019	J	`jnl`	Model-free Friction Observers for Flexible Joint Robots with Torque Measurements. CoRR Min Jun Kim, Fabian Beck, Christian Ott, Alin Albu-Schäffer
2019	J	`jnl`	One-Dimensional Solution Families of Nonlinear Systems Characterized by Scalar Functions on Riemannian Manifolds. CoRR Alin Albu-Schäffer, Dominic Lakatos, Stefano Stramigioli
2019	A*	`conf`	Visual Repetition Sampling for Robot Manipulation Planning. ICRA En Yen Puang, Peter Lehner, Zoltan-Csaba Marton, Maximilian Durner, Rudolph Triebel, Alin Albu-Schäffer
2018	J	`jnl`	A dataset of continuous affect annotations and physiological signals for emotion analysis. CoRR Karan Sharma, Claudio Castellini, Egon L. van den Broek, Alin Albu-Schäffer, Friedhelm Schwenker
2018	J	`jnl`	An Overview on Principles for Energy Efficient Robot Locomotion. Frontiers Robotics AI Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schäffer, Patrick Clary, Monica A. Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan W. Hurst, Jörn Malzahn, Glenn Mathijssen, C. David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae-Bok Song, Nils Smit-Anseeuw, Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikolaos G. Tsagarakis
2018	J	`jnl`	Convex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of Motion. IEEE Robotics Autom. Lett. George Mesesan, Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2018	—	`conf`	DCM-Based Gait Generation for Walking on Moving Support Surfaces. Humanoids Johannes Englsberger, George Mesesan, Christian Ott, Alin Albu-Schäffer
2018	A	`conf`	Data-Driven Discrete Planning for Targeted Hopping of Compliantly Actuated Robotic Legs. IROS Daniel Seidel, Dominic Lakatos, Alin Albu-Schäffer
2018	J	`jnl`	Design and Operational Elements of the Robotic Subsystem for the e.deorbit Debris Removal Mission. Frontiers Robotics AI Steffen Jaekel, Roberto Lampariello, Wolfgang Rackl, Marco De Stefano, Nassir W. Oumer, Alessandro M. Giordano, Oliver Porges, Markus Pietras, Bernhard Brunner, John Ratti, Quirin Muehlbauer, Markus Thiel, Stéphane Estable, Robin Biesbroek, Alin Albu-Schäffer
2018	J	`jnl`	Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design. IEEE Robotics Autom. Lett. Dominic Lakatos, Kai Ploeger, Florian Loeffl, Daniel Seidel, Florian Schmidt, Thomas Gumpert, Freia John, Torsten Bertram, Alin Albu-Schäffer
2018	J	`jnl`	Elastic Structure Preserving (ESP) Control for Compliantly Actuated Robots. IEEE Trans. Robotics Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
2018	A	`conf`	Elastic Structure Preserving Impedance (ESπ)Control for Compliantly Actuated Robots. IROS Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
2018	J	`jnl`	Exploiting Elastic Energy Storage for "Blind" Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling. IEEE Trans. Robotics Sami Haddadin, Kai Krieger, Alin Albu-Schäffer, Torsten Lilge
2018	J	`jnl`	Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification. IEEE Trans. Robotics Yanan Li, Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet
2018	J	`jnl`	Fusing Joint Measurements and Visual Features for In-Hand Object Pose Estimation. IEEE Robotics Autom. Lett. Martin Pfanne, Maxime Chalon, Freek Stulp, Alin Albu-Schäffer
2018	A	`conf`	Inferring Semantic State Transitions During Telerobotic Manipulation. IROS Adrian Simon Bauer, Peter Schmaus, Alin Albu-Schäffer, Daniel Leidner
2018	—	`conf`	Non-Linear Local Force Feedback Control for Haptic Interfaces SyRoCo Ribin Balachandran, Natalia Kozlova, Christian Ott, Alin Albu-Schäffer
2018	J	`jnl`	Passivity Analysis and Control of Humanoid Robots on Movable Ground. IEEE Robotics Autom. Lett. Bernd Henze, Ribin Balachandran, Máximo Alejandro Roa-Garzón, Christian Ott, Alin Albu-Schäffer
2018	J	`jnl`	Progress and prospects of the human-robot collaboration. Auton. Robots Arash Ajoudani, Andrea Maria Zanchettin, Serena Ivaldi, Alin Albu-Schäffer, Kazuhiro Kosuge, Oussama Khatib
2018	—	`conf`	Robust SyRoCo Anton Leonhard Shu, Bastian Deutschmann, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
2018	J	`jnl`	Robust Adaptive Tracking Control Based on State Feedback Controller With Integrator Terms for Elastic Joint Robots With Uncertain Parameters. IEEE Trans. Control. Syst. Technol. Luc Le Tien, Alin Albu-Schäffer
2018	J	`jnl`	The Repetition Roadmap for Repetitive Constrained Motion Planning. IEEE Robotics Autom. Lett. Peter Lehner, Alin Albu-Schäffer
2018	J	`jnl`	Tracking Control for the Grasping of a Tumbling Satellite With a Free-Floating Robot. IEEE Robotics Autom. Lett. Roberto Lampariello, Hrishik Mishra, Nassir W. Oumer, Phillip Schmidt, Marco De Stefano, Alin Albu-Schäffer
2018	J	`jnl`	Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Soft Robots. CoRR Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer
2018	—	`conf`	Visco-Elastic Structure Preserving Impedance (VESπ) Control for Compliantly Actuated Robots. ECC Manuel Keppler, Dominic Lakatos, Alexander Werner, Florian Loeffl, Christian Ott, Alin Albu-Schäffer
2018	A*	`conf`	Workspace Fixation for Free-Floating Space Robot Operations. ICRA Alessandro M. Giordano, Davide Calzolari, Alin Albu-Schäffer
2017	J	`jnl`	Decoupling and tracking control for elastic joint robots with coupled joint structure. Adv. Robotics Luc Le Tien, Alin Albu-Schäffer
2017	J	`jnl`	Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots With Elastic Elements. IEEE Robotics Autom. Lett. Dominic Lakatos, Werner Friedl, Alin Albu-Schäffer
2017	A*	`conf`	Haptic intention augmentation for cooperative teleoperation. ICRA Michael Panzirsch, Ribin Balachandran, Jordi Artigas, Cornelia Riecke, Manuel Ferre, Alin Albu-Schäffer
2017	J	`jnl`	Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency. IEEE Robotics Autom. Lett. Philipp Stratmann, Dominic Lakatos, Mehmet Can Özparpucu, Alin Albu-Schäffer
2017	—	`conf`	Momentum dumping for space robots. CDC Alessandro M. Giordano, Gianluca Garofalo, Alin Albu-Schäffer
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	A	`conf`	Repetition sampling for efficiently planning similar constrained manipulation tasks. IROS Peter Lehner, Alin Albu-Schäffer
2017	J	`jnl`	Robot Collisions: A Survey on Detection, Isolation, and Identification. IEEE Trans. Robotics Sami Haddadin, Alessandro De Luca, Alin Albu-Schäffer
2016	A*	`conf`	A passivity-based approach for trajectory tracking and link-side damping of compliantly actuated robots. ICRA Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
2016	—	`conf`	A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots. CDC Manuel Keppler, Dominic Lakatos, Christian Ott, Alin Albu-Schäffer
2016	—	`ch.`	Actuators for Soft Robotics. Springer Handbook of Robotics, 2nd Ed. Alin Albu-Schäffer, Antonio Bicchi
2016	J	`jnl`	Biologically Inspired Deadbeat Control for Running: From Human Analysis to Humanoid Control and Back. IEEE Trans. Robotics Johannes Englsberger, Pawel Kozlowski, Christian Ott, Alin Albu-Schäffer
2016	—	`conf`	Dynamic bipedal walking by controlling only the equilibrium of intrinsic elasticities. Humanoids Dominic Lakatos, Alin Albu-Schäffer, Christian Rode, Florian Loeffl
2016	—	`conf`	Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta. CDC Alessandro M. Giordano, Gianluca Garofalo, Marco De Stefano, Christian Ott, Alin Albu-Schäffer
2016	J	`jnl`	Iterative path-accurate trajectory generation for fast sensor-based motion of robot arms. Adv. Robotics Friedrich Lange, Alin Albu-Schäffer
2016	A*	`conf`	KONTUR-2: Force-feedback teleoperation from the international space station. ICRA Jordi Artigas, Ribin Balachandran, Cornelia Riecke, Martin Stelzer, Bernhard M. Weber, Jee-Hwan Ryu, Alin Albu-Schäffer
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	J	`jnl`	Modal Matching: An Approach to Natural Compliant Jumping Control. IEEE Robotics Autom. Lett. Dominic Lakatos, Alin Albu-Schäffer
2016	J	`jnl`	Neuromodulation and Synaptic Plasticity for the Control of Fast Periodic Movement: Energy Efficiency in Coupled Compliant Joints via PCA. Frontiers Neurorobotics Philipp Stratmann, Dominic Lakatos, Alin Albu-Schäffer
2016	A*	`conf`	Optical-inertial tracking of an input device for real-time robot control. ICRA Florian Steidle, Andreas Tobergte, Alin Albu-Schäffer
2016	J	`jnl`	Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots. IEEE Robotics Autom. Lett. Friedrich Lange, Alin Albu-Schäffer
2016	A	`conf`	Robotic Agents Representing, Reasoning, and Executing Wiping Tasks for Daily Household Chores. AAMAS Daniel Leidner, Wissam Bejjani, Alin Albu-Schäffer, Michael Beetz
2016	A	`conf`	Robotic simulation of on orbit servicing including hard impacts. IROS Friedrich Lange, Gerhard Grunwald, Alin Albu-Schäffer
2016	—	`conf`	The DLR C-runner: Concept, design and experiments. Humanoids Florian Loeffl, Alexander Werner, Dominic Lakatos, Jens Reinecke, Sebastian Wolf, Robert Burger, Thomas Gumpert, Florian Schmidt, Christian Ott, Markus Grebenstein, Alin Albu-Schäffer
2016	C	`conf`	Visual Focus of Attention Recognition from Fixed Chair Sitting Postures Using RGB-D Data. ISM Michael Wolfram, Haider Ali, Alin Albu-Schäffer
2016	—	`conf`	Weight and Weightlessness Effects on Sensorimotor Performance During Manual Tracking. EuroHaptics (1) Bernhard M. Weber, Simon Schätzle, Cornelia Riecke, Bernhard Brunner, Sergey Tarassenko, Jordi Artigas, Ribin Balachandran, Alin Albu-Schäffer
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	J	`jnl`	Backstepping Control of Variable Stiffness Robots. IEEE Trans. Control. Syst. Technol. Florian Petit, Andreas Daasch, 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	A*	`conf`	Passivity of virtual free-floating dynamics rendered on robotic facilities. ICRA Marco De Stefano, Jordi Artigas, Wolfgang Rackl, Alin Albu-Schäffer
2015	J	`jnl`	Prioritized multi-task compliance control of redundant manipulators. Autom. Christian Ott, Alexander Dietrich, Alin Albu-Schäffer
2015	A	`conf`	Robotic agents capable of natural and safe physical interaction with human co-workers. IROS Michael Beetz, Georg Bartels, Alin Albu-Schäffer, Ferenc Balint-Benczedi, Rico Belder, Daniel Beßler, Sami Haddadin, Alexis Maldonado, Nico Mansfeld, Thiemo Wiedemeyer, Roman Weitschat, Jan-Hendrik Worch
2015	A	`conf`	Targeted jumping of compliantly actuated hoppers based on discrete planning and switching control. IROS Dominic Lakatos, Daniel Seidel, Werner Friedl, Alin Albu-Schäffer
2015	A*	`conf`	The OOS-SIM: An on-ground simulation facility for on-orbit servicing robotic operations. ICRA Jordi Artigas, Marco De Stefano, Wolfgang Rackl, Roberto Lampariello, Bernhard Brunner, Wieland Bertleff, Robert Burger, Oliver Porges, Alessandro Giordano, Christoph Borst, Alin Albu-Schäffer
2015	J	`jnl`	Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion. IEEE Trans. Robotics Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2015	J	`jnl`	Variable stiffness actuators: The user's point of view. Int. J. Robotics Res. Giorgio Grioli, Sebastian Wolf, Manolo Garabini, Manuel G. Catalano, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Werner Friedl, Markus Grebenstein, Matteo Laffranchi, Dirk Lefeber, Stefano Stramigioli, Nikos G. Tsagarakis, Michaël Van Damme, Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi
2014	A*	`conf`	A model-free approach to vibration suppression for intrinsically elastic robots. ICRA Florian Petit, Christian Ott, Alin Albu-Schäffer
2014	J	`jnl`	Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion. Autom. Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer
2014	—	`conf`	Design and control of compliantly actuated bipedal running robots: Concepts to exploit natural system dynamics. Humanoids Dominic Lakatos, Christian Rode, André Seyfarth, Alin Albu-Schäffer
2014	J	`jnl`	Experimental Analysis on Spatial and Cartesian impedance Control for the dexterous DLR/Hit II Hand. Int. J. Robotics Autom. Zhaopeng Chen, Neal Y. Lii, Thomas Wimböck, Shaowei Fan, Hong Liu, Alin Albu-Schäffer
2014	—	`conf`	Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots. CDC Luc Le Tien, Alin Albu-Schäffer
2014	A*	`conf`	Jumping control for compliantly actuated multilegged robots. ICRA Dominic Lakatos, Gianluca Garofalo, Alexander Dietrich, Alin Albu-Schäffer
2014	—	`conf`	Neuron model interpretation of a cyclic motion control concept. BioRob Dominic Lakatos, Alin Albu-Schäffer
2014	J	`jnl`	Nonlinear Oscillations for Cyclic Movements in Human and Robotic Arms. IEEE Trans. Robotics Dominic Lakatos, Florian Petit, 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	—	`conf`	Optimal control strategies for maximizing the performance of Variable Stiffness Joints with nonlinear springs. CDC Mehmet Can Ozparpucu, Alin Albu-Schäffer
2014	—	`conf`	Overview of the torque-controlled humanoid robot TORO. Humanoids Johannes Englsberger, Alexander Werner, Christian Ott, Bernd Henze, Máximo A. Roa, Gianluca Garofalo, Robert Burger, Alexander Beyer, Oliver Eiberger, Korbinian Schmid, Alin Albu-Schäffer
2014	J	`jnl`	Passivity and Stability Boundaries for Haptic Systems With Time Delay. IEEE Trans. Control. Syst. Technol. Thomas Hulin, Alin Albu-Schäffer, Gerd Hirzinger
2014	A*	`conf`	The Hardware Abstraction Layer - Supporting control design by tackling the complexity of humanoid robot hardware. ICRA Stefan Jörg, Jan Tully, Alin Albu-Schäffer
2014	A	`conf`	Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion. IROS Johannes Englsberger, Twan Koolen, Sylvain Bertrand, Jerry E. Pratt, Christian Ott, Alin Albu-Schäffer
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`	A robust sagittal plane hexapedal running model with serial elastic actuation and simple periodic feedforward control. IROS Martin Görner, Alin Albu-Schäffer
2013	A	`conf`	Dynamic optimality in real-time: A learning framework for near-optimal robot motions. IROS Roman Weitschat, Sami Haddadin, Felix Huber, Alin Albu-Schäffer
2013	A*	`conf`	Evaluation of human safety in the DLR Robotic Motion Simulator using a crash test dummy. ICRA Karan Sharma, Sami Haddadin, Sebastian Minning, Johann Heindl, Tobias Bellmann, Sven Parusel, Tim Rokahr, Alin Albu-Schäffer
2013	A	`conf`	First analysis and experiments in aerial manipulation using fully actuated redundant robot arm. IROS Felix Huber, Konstantin Kondak, Kai Krieger, Dominik Sommer, Marc Schwarzbach, Maximilian Laiacker, Ingo Kossyk, Sven Parusel, Sami Haddadin, Alin Albu-Schäffer
2013	B	`conf`	It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning. SAFECOMP Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schäffer
2013	A*	`conf`	Modal limit cycle control for variable stiffness actuated robots. ICRA Dominic Lakatos, Gianluca Garofalo, Florian Petit, Christian Ott, 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
2013	A*	`conf`	Nonlinear oscillations for cyclic movements in variable impedance actuated robotic arms. ICRA Dominic Lakatos, Florian Petit, Alin Albu-Schäffer
2013	A	`conf`	On the closed form computation of the dynamic matrices and their differentiations. IROS Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2013	C	`conf`	Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time. ISRR Sami Haddadin, Roman Weitschat, Felix Huber, Mehmet Can Özparpucu, Nico Mansfeld, Alin Albu-Schäffer
2013	A	`conf`	Optimal control for haptic rendering: Fast energy dissipation and minimum overshoot. IROS Thomas Hulin, Ricardo Gonzalez Camarero, Alin Albu-Schäffer
2013	C	`conf`	Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. ACC Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2013	J	`jnl`	Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints. IEEE Trans. Robotics David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar
2013	A	`conf`	Task-specific evaluation of kinematic designs for instruments in minimally invasive robotic surgery. IROS Bastian Deutschmann, Rainer Konietschke, Alin Albu-Schäffer
2013	A	`conf`	Three-dimensional bipedal walking control using Divergent Component of Motion. IROS Johannes Englsberger, Christian Ott, Alin Albu-Schäffer
2013	A	`conf`	Towards a robust variable stiffness actuator. IROS Sebastian Wolf, Alin Albu-Schäffer
2013	J	`jnl`	Variable impedance actuators: A review. Robotics Auton. Syst. Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Oliver Eiberger, Werner Friedl, Ganesh Ganesh, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Hannes Höppner, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf
2012	—	`conf`	A Peer-to-Peer Trilateral Passivity Control for Delayed Collaborative Teleoperation. EuroHaptics (1) Michael Panzirsch, Jordi Artigas, Andreas Tobergte, Paul Kotyczka, Carsten Preusche, Alin Albu-Schäffer, Gerd Hirzinger
2012	A	`conf`	A truly safely moving robot has to know what injury it may cause. IROS Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer
2012	A*	`conf`	A versatile biomimetic controller for contact tooling and haptic exploration. ICRA Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet
2012	A	`conf`	Adaptive friction compensation in trajectory tracking control of DLR medical robots with elastic joints. IROS Luc Le Tien, Alin Albu-Schäffer
2012	J	`jnl`	Comparison of object-level grasp controllers for dynamic dexterous manipulation. Int. J. Robotics Res. Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger
2012	A*	`conf`	Direct force reflecting teleoperation with a flexible joint robot. ICRA Andreas Tobergte, Alin Albu-Schäffer
2012	—	`conf`	Dynamic Trajectory Generation for Serial Elastic Actuated Robots. SyRoCo Florian Petit, Dominic Lakatos, Werner Friedl, Alin Albu-Schäffer
2012	—	`conf`	Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems. SyRoCo Alin Albu-Schäffer, Christian Ott, Florian Petit
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`	Intrinsically elastic robots: The key to human like performance. IROS Sami Haddadin, Felix Huber, Kai Krieger, Roman Weitschat, Alin Albu-Schäffer, Sebastian Wolf, Werner Friedl, Markus Grebenstein, Florian Petit, Jens Reinecke, Roberto Lampariello
2012	A*	`conf`	On continuous null space projections for torque-based, hierarchical, multi-objective manipulation. ICRA Alexander Dietrich, Alin Albu-Schäffer, Gerd Hirzinger
2012	A	`conf`	On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level. IROS Sami Haddadin, Kai Krieger, Nico Mansfeld, Alin Albu-Schäffer
2012	J	`jnl`	On making robots understand safety: Embedding injury knowledge into control. Int. J. Robotics Res. Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer
2012	A*	`conf`	Optimal control for exploiting the natural dynamics of Variable Stiffness robots. ICRA Sami Haddadin, Felix Huber, Alin Albu-Schäffer
2012	—	`conf`	Optimal control for maximizing potential energy in a variable stiffness joint. CDC Sami Haddadin, Mehmet Can Ozparpucu, Alin Albu-Schäffer
2012	A	`conf`	Optimal torque and stiffness control in compliantly actuated robots. IROS David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar
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
2012	A	`conf`	Rigid vs. elastic actuation: Requirements & performance. IROS Sami Haddadin, Nico Mansfeld, Alin Albu-Schäffer
2012	—	`conf`	TeleImpedance: Exploring the role of common-mode and configuration-dependant stiffness. Humanoids Arash Ajoudani, Marco Gabiccini, Nikolaos G. Tsagarakis, Alin Albu-Schäffer, Antonio Bicchi
2012	A	`conf`	Variable impedance actuators: Moving the robots of tomorrow. IROS Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Ganesh Gowrishankar, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf
2012	A*	`conf`	Walking control of fully actuated robots based on the Bipedal SLIP model. ICRA Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
2011	A	`conf`	A human-centered approach to robot gesture based communication within collaborative working processes. IROS Tobias Ende, Sami Haddadin, Sven Parusel, Tilo Wüsthoff, Marc Hassenzahl, Alin Albu-Schäffer
2011	A	`conf`	Bipedal walking control based on Capture Point dynamics. IROS Johannes Englsberger, Christian Ott, Máximo A. Roa, Alin Albu-Schäffer, Gerhard Hirzinger
2011	A	`conf`	Cartesian impedance control for a variable stiffness robot arm. IROS Florian Petit, Alin Albu-Schäffer
2011	A*	`conf`	Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions. ICRA Jung-Jun Park, Sami Haddadin, Jae-Bok Song, Alin Albu-Schäffer
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	—	`conf`	Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling. CDC/ECC Sami Haddadin, Kai Krieger, Alin Albu-Schäffer
2011	A	`conf`	Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot. IROS Sami Haddadin, Kai Krieger, Mirko Kunze, 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	J	`jnl`	Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions. IEEE Trans. Robotics Chenguang Yang, Ganesh Gowrishankar, Sami Haddadin, Sven Parusel, Alin Albu-Schäffer, Etienne Burdet
2011	A	`conf`	Impedance control of a non-linearly coupled tendon driven thumb. IROS Maxime Chalon, Werner Friedl, Jens Reinecke, Thomas Wimböck, Alin Albu-Schäffer
2011	A*	`conf`	Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot. ICRA Sven Parusel, Sami Haddadin, Alin Albu-Schäffer
2011	—	`conf`	Robot Companions for Citizens. FET Paolo Dario, Paul F. M. J. Verschure, Tony J. Prescott, Gordon Cheng, Giulio Sandini, Roberto Cingolani, Rüdiger Dillmann, Dario Floreano, Christophe Leroux, Sheila MacNeil, Pieter R. Roelfsema, Xenophon Verykios, Antonio Bicchi, Chris Melhuish, Alin Albu-Schäffer
2011	—	`conf`	Safe acting and manipulation in human environments: A key concept for robots in our society. ARSO Sami Haddadin, Sven Parusel, Rico Belder, 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
2011	A*	`conf`	State feedback damping control for a multi DOF variable stiffness robot arm. ICRA Florian Petit, Alin Albu-Schäffer
2011	A	`conf`	Static calibration of the DLR medical robot MIRO, a flexible lightweight robot with integrated torque sensors. IROS Julian Klodmann, Rainer Konietschke, Alin Albu-Schäffer, Gerhard Hirzinger
2011	A*	`conf`	The DLR hand arm system. ICRA Markus Grebenstein, Alin Albu-Schäffer, Thomas Bahls, Maxime Chalon, Oliver Eiberger, Werner Friedl, Robin Gruber, Sami Haddadin, Ulrich Hagn, Robert Haslinger, Hannes Höppner, Stefan Jörg, Mathias Nickl, Alexander Nothhelfer, Florian Petit, Josef Reill, Nikolaus Seitz, Thomas Wimböck, Sebastian Wolf, Tilo Wüsthoff, Gerd Hirzinger
2011	A	`conf`	The sigma.7 haptic interface for MiroSurge: A new bi-manual surgical console. IROS Andreas Tobergte, Patrick Helmer, Ulrich Hagn, Patrice Rouiller, Sophie Thielmann, Sébastien Grange, Alin Albu-Schäffer, François Conti, Gerd Hirzinger
2010	J	`jnl`	Aus der Forschung zum Industrieprodukt: Die Entwicklung des KUKA Leichtbauroboters (From Research to an Industrial Product: The Development of the KUKA Lightweight Robot). Autom. Rainer Bischoff, Johannes Kurth, Günter Schreiber, Ralf Koeppe, Andreas Stemmer, Alin Albu-Schäffer, Oliver Eiberger, Alexander Beyer, Gerhard Grunwald, Gerd Hirzinger
2010	A*	`conf`	Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation. ICRA Florian Petit, Maxime Chalon, Werner Friedl, Markus Grebenstein, Alin Albu-Schäffer, Gerd Hirzinger
2010	A*	`conf`	Biomimetic motor behavior for simultaneous adaptation of force, impedance and trajectory in interaction tasks. ICRA Ganesh Gowrishankar, Alin Albu-Schäffer, Haruno Mashiko, Mitsuo Kawato, Etienne Burdet
2010	J	`jnl`	DLR MiroSurge: a versatile system for research in endoscopic telesurgery. Int. J. Comput. Assist. Radiol. Surg. Ulrich Hagn, Rainer Konietschke, Andreas Tobergte, Mathias Nickl, Stefan Jörg, Bernhard Kübler, Georg Passig, Martin Gröger, Florian A. Fröhlich, Ulrich Seibold, Luc Le Tien, Alin Albu-Schäffer, Alexander Nothhelfer, Franz Hacker, Markus Grebenstein, Gerd Hirzinger
2010	J	`jnl`	DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR's Two-Handed Humanoid Justin: System Design, Integration and Control). Autom. Thomas Wimböck, Christoph Borst, Alin Albu-Schäffer, Christian Ott, Florian Schmidt, Matthias Fuchs, Werner Friedl, Oliver Eiberger, Andreas Baumann, Alexander Beyer, Gerd Hirzinger
2010	—	`conf`	Development of a biped robot with torque controlled joints. Humanoids Christian Ott, Christoph Baumgärtner, Johannes Mayr, Matthias Fuchs, Robert Burger, Dongheui Lee, Oliver Eiberger, Alin Albu-Schäffer, Markus Grebenstein, Gerd Hirzinger
2010	A*	`conf`	Dynamic modelling and control of variable stiffness actuators. ICRA Alin Albu-Schäffer, Sebastian Wolf, Oliver Eiberger, Sami Haddadin, Florian Petit, Maxime Chalon
2010	J	`jnl`	Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken (Decoupling Control and Friction Compensation for Robot with Elastic Coupled Joints). Autom. Luc Le Tien, Alin Albu-Schäffer, Klaus Janschek, Gerd Hirzinger
2010	A	`conf`	Holistic design and analysis for the human-friendly robotic co-worker. IROS Sami Haddadin, Sven Parusel, Rico Belder, Joern Vogel, Tim Rokahr, Alin Albu-Schäffer, Gerd Hirzinger
2010	—	`conf`	Interaction Force, Impedance and Trajectory Adaptation: By Humans, for Robots. ISER Etienne Burdet, Ganesh Gowrishankar, Chenguang Yang, Alin Albu-Schäffer
2010	J	`jnl`	Konzepte für den Roboterassistenten der Zukunft (Towards the Robotic Co-Worker). Autom. Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger
2010	J	`jnl`	MiroSurge - Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery. Presence Teleoperators Virtual Environ. Andreas Tobergte, Georg Passig, Bernhard Kübler, Ulrich Seibold, Ulrich Hagn, Florian A. Fröhlich, Rainer Konietschke, Stefan Jörg, Mathias Nickl, Sophie Thielmann, Robert Haslinger, Martin Gröger, Alexander Nothhelfer, Luc Le Tien, Robin Gruber, Alin Albu-Schäffer, Gerd Hirzinger
2010	A	`conf`	New insights concerning intrinsic joint elasticity for safety. IROS Sami Haddadin, Alin Albu-Schäffer, Oliver Eiberger, Gerd Hirzinger
2010	A*	`conf`	On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint. ICRA Oliver Eiberger, Sami Haddadin, Michael Weis, Alin Albu-Schäffer, Gerd Hirzinger
2010	A	`conf`	Real-time reactive motion generation based on variable attractor dynamics and shaped velocities. IROS Sami Haddadin, Holger Urbanek, Sven Parusel, Darius Burschka, Jürgen Roßmann, Alin Albu-Schäffer, Gerd Hirzinger
2010	J	`jnl`	Safety Analysis for a Human-Friendly Manipulator. Int. J. Soc. Robotics Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2010	A*	`conf`	Soft-tissue injury in robotics. ICRA Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2010	—	`conf`	The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing. ISR/ROBOTIK Rainer Bischoff, Johannes Kurth, Günter Schreiber, Ralf Koeppe, Alin Albu-Schäffer, Alexander Beyer, Oliver Eiberger, Sami Haddadin, Andreas Stemmer, Gerhard Grunwald, Gerd Hirzinger
2009	C	`conf`	Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance. ISRR Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Sebastian Wolf, Christoph Borst, Gerd Hirzinger
2009	A	`conf`	Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin. IROS Thomas Wimböck, Dragomir N. Nenchev, Alin Albu-Schäffer, Gerd Hirzinger
2009	J	`jnl`	Kick it with elasticity: Safety and performance in human-robot soccer. Robotics Auton. Syst. Sami Haddadin, Tim Laue, Udo Frese, Sebastian Wolf, Alin Albu-Schäffer, Gerd Hirzinger
2009	A*	`conf`	On the kinematic modeling and control of a mobile platform equipped with steering wheels and movable legs. ICRA Paolo Robuffo Giordano, Matthias Fuchs, Alin Albu-Schäffer, Gerd Hirzinger
2009	J	`jnl`	Requirements for Safe Robots: Measurements, Analysis and New Insights. Int. J. Robotics Res. Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2009	A*	`conf`	Rollin' Justin - Mobile platform with variable base. ICRA Christoph Borst, Thomas Wimböck, Florian Schmidt, Matthias Fuchs, Bernhard Brunner, Franziska Zacharias, Paolo Robuffo Giordano, Rainer Konietschke, Wolfgang Sepp, Stefan Fuchs, Christian Rink, Alin Albu-Schäffer, Gerd Hirzinger
2009	A*	`conf`	The "DLR Crash Report": Towards a standard crash-testing protocol for robot safety - Part I: Results. ICRA Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Jürgen Rossmann, Gerd Hirzinger
2009	A*	`conf`	The "DLR crash report": Towards a standard crash-testing protocol for robot safety - Part II: Discussions. ICRA Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Jürgen Rossmann, Gerd Hirzinger
2009	A*	`conf`	The DLR MiroSurge - A robotic system for surgery. ICRA Rainer Konietschke, Ulrich Hagn, Mathias Nickl, Stefan Jörg, Andreas Tobergte, Georg Passig, Ulrich Seibold, Luc Le Tien, Bernhard Kübler, Martin Gröger, Florian A. Fröhlich, Christian Rink, Alin Albu-Schäffer, Markus Grebenstein, Tobias Ortmaier, Gerd Hirzinger
2009	C	`conf`	Towards the Robotic Co-Worker. ISRR Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger
2008	A	`conf`	Collision detection and reaction: A contribution to safe physical Human-Robot Interaction. IROS Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca, Gerd Hirzinger
2008	A	`conf`	Friction observer and compensation for control of robots with joint torque measurement. IROS Luc Le Tien, Alin Albu-Schäffer, Alessandro De Luca, Gerd Hirzinger
2008	A	`conf`	Impedance control for variable stiffness mechanisms with nonlinear joint coupling. IROS Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger
2008	A*	`conf`	Injury evaluation of human-robot impacts. ICRA Sami Haddadin, Alin Albu-Schäffer, Michael Strohmayr, Mirko Frommberger, Gerd Hirzinger
2008	J	`jnl`	Light-weight robots. Scholarpedia Gerd Hirzinger, Alin Albu-Schäffer
2008	J	`jnl`	On the Passivity-Based Impedance Controlof Flexible Joint Robots. IEEE Trans. Robotics Andreas Kugi, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger
2008	A	`conf`	Robotic assembly of complex planar parts: An experimental evaluation. IROS Paolo Robuffo Giordano, Andreas Stemmer, Klaus Arbter, Alin Albu-Schäffer
2008	J	`jnl`	Soft robotics. IEEE Robotics Autom. Mag. Alin Albu-Schäffer, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimböck, Sebastian Wolf, Gerd Hirzinger
2008	J	`jnl`	The DLR MIRO: a versatile lightweight robot for surgical applications. Ind. Robot Ulrich Hagn, Mathias Nickl, Stefan Jörg, Georg Passig, Thomas Bahls, Alexander Nothhelfer, Franz Hacker, Luc Le Tien, Alin Albu-Schäffer, Rainer Konietschke, Markus Grebenstein, Rebecca Schedl-Warpup, Robert Haslinger, Mirko Frommberger, Gerd Hirzinger
2008	A*	`conf`	The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts. ICRA Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2008	A*	`conf`	The role of the robot mass and velocity in physical human-robot interaction - Part II: Constrained blunt impacts. ICRA Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Gerd Hirzinger
2007	J	`jnl`	A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. Int. J. Robotics Res. Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger
2007	A*	`conf`	A humanoid upper body system for two-handed manipulation. ICRA Christoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, Ulrich Hillenbrand, Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2007	A*	`conf`	An Analytical Method for the Planning of Robust Assembly Tasks of Complex Shaped Planar Parts. ICRA Andreas Stemmer, Alin Albu-Schäffer, Gerd Hirzinger
2007	A	`conf`	Influence of sensor quantization on the control performance of robotics actuators. IROS Renat Iskakov, Alin Albu-Schäffer, Manfred Schedl, Gerd Hirzinger, Vitaly Lopota
2007	A*	`conf`	MIMO State Feedback Controller for a Flexible Joint Robot with Strong Joint Coupling. ICRA Luc Le Tien, Alin Albu-Schäffer, Gerd Hirzinger
2007	C	`conf`	Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights. ISRR Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2007	—	`conf`	Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing. Robotics: Science and Systems Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2007	J	`jnl`	The DLR lightweight robot: design and control concepts for robots in human environments. Ind. Robot Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Gerhard Hirzinger
2006	A	`conf`	A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure. IROS Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger
2006	A*	`conf`	A Hands-on-robot for Accurate Placement of Pedicle Screws. ICRA Tobias Ortmaier, Holger Weiss, Ulrich Hagn, Markus Grebenstein, Matthias Nickel, Alin Albu-Schäffer, Christian Ott, Stefan Jörg, Rainer Konietschke, Luc Le Tien, Gerd Hirzinger
2006	—	`conf`	A Humanoid Two-Arm System for Dexterous Manipulation. Humanoids Christian Ott, Oliver Eiberger, Werner Friedl, Berthold Bäuml, Ulrich Hillenbrand, Christoph Borst, Alin Albu-Schäffer, Bernhard Brunner, Heiko Hirschmüller, Simon Kielhöfer, Rainer Konietschke, Michael Suppa, Thomas Wimböck, Franziska Zacharias, Gerhard Hirzinger
2006	A	`conf`	Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm. IROS Alessandro De Luca, Alin Albu-Schäffer, Sami Haddadin, Gerd Hirzinger
2006	A*	`conf`	ROKVISS - Robotics Component Verification on ISS Current Experimental Results on Parameter Identification. ICRA Alin Albu-Schäffer, Wieland Bertleff, Bernhard Rebele, Bernd-Helge Schäfer, Klaus Landzettel, Gerd Hirzinger
2006	A	`conf`	Robotic On-Orbit Servicing - DLR's Experience and Perspective. IROS Klaus Landzettel, Carsten Preusche, Alin Albu-Schäffer, Detlef Reintsema, Bernhard Rebele, Gerd Hirzinger
2006	—	`conf`	Robust Assembly of Complex Shaped Planar Parts Using Vision and Force. MFI Andreas Stemmer, Günter Schreiber, Klaus Arbter, Alin Albu-Schäffer
2005	C	`conf`	A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots. ISRR Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger
2005	A*	`conf`	Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems. ICRA Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger
2005	J	`jnl`	Kartesische Impedanzregelung von Robotern mit elastischen Gelenken: Ein passivitätsbasierter Ansatz (Cartesian Impedance Control of Flexible Joint Robots: A Passivity Based Approach). Autom. Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger
2004	A*	`conf`	A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part I: Torque Feedback and Gravity Compensation. ICRA Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Stefano Stramigioli, Gerd Hirzinger
2004	A*	`conf`	A Passivity based Cartesian Impedance Controller for Flexible Joint Robots - Part II: Full State Feedback, Impedance Design and Experiments. ICRA Alin Albu-Schäffer, Christian Ott, Gerd Hirzinger
2004	J	`jnl`	DLR's robotics technologies for on-orbit servicing. Adv. Robotics Gerd Hirzinger, Klaus Landzettel, Bernhard Brunner, Max Fischer, Carsten Preusche, Detlef Reintsema, Alin Albu-Schäffer, Günter Schreiber, Bernhard-Michael Steinmetz
2004	A	`conf`	Learning from demonstration: repetitive movements for autonomous service robotics. IROS Holger Urbanek, Alin Albu-Schäffer, Patrick van der Smagt
2004	A	`conf`	Soft robotics: what Cartesian stiffness can obtain with passively compliant, uncoupled joints? IROS Alin Albu-Schäffer, Max Fischer, Günter Schreiber, Florian Schoeppe, Gerd Hirzinger
2003	—	`ch.`	Cartesian Compliant Control Strategies for Light-Weight, Flexible Joint Robots. Control Problems in Robotics Alin Albu-Schäffer, Gerd Hirzinger
2003	A*	`conf`	Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms. ICRA Alin Albu-Schäffer, Christian Ott, Udo Frese, Gerd Hirzinger
2003	A*	`conf`	Decoupling based Cartesian impedance control of flexible joint robots. ICRA Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger
2003	J	`jnl`	Programming by touch: the different way of human-robot interaction. IEEE Trans. Ind. Electron. Gerhard Grunwald, Günter Schreiber, Alin Albu-Schäffer, Gerd Hirzinger
2002	A*	`conf`	Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots. ICRA Alin Albu-Schäffer, Gerd Hirzinger
2002	A	`conf`	Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator. IROS Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger
2002	A*	`conf`	DLR's Torque-Controlled Light Weight Robot III - Are We Reaching the Technological Limits Now? ICRA Gerd Hirzinger, Norbert Sporer, Alin Albu-Schäffer, Matthias Hähnle, R. Krenn, A. Pascucci, Markus Schedl
2001	C	`conf`	A New Generation of Compliance Controlled Manipulators with Human Arm Like Properties. ISRR Ralf Koeppe, Alin Albu-Schäffer, Carsten Preusche, Günter Schreiber, Gerd Hirzinger
2001	J	`jnl`	A globally stable state feedback controller for flexible joint robots. Adv. Robotics Alin Albu-Schäffer, Gerd Hirzinger
2001	A*	`conf`	On a New Generation of Torque Controlled Light-Weight Robots. ICRA Gerd Hirzinger, Alin Albu-Schäffer, Matthias Hähnle, Ingo Schäfer, Norbert Sporer
2001	A*	`conf`	Parameter Identification and Passivity Based Joint Control for a 7DOF Torque controlled Light Weight Robot. ICRA Alin Albu-Schäffer, Gerd Hirzinger
2000	A	`conf`	State feedback controller for flexible joint robots: a globally stable approach implemented on DLR's light-weight robots. IROS Alin Albu-Schäffer, Gerd Hirzinger
1998	A*	`conf`	Key Issues in the Dynamic Control of Lightweight Robots for Space and Terrestrial Applications. ICRA Jing-Xin Shi, Alin Albu-Schäffer, Gerd Hirzinger