Alexander Dietrich

Publication Activity (10 Years)

Years Active: 2011-2024
Publications (10 Years): 43

Top Topics

Tracking Control

Impedance Control

Top Venues

IEEE Robotics Autom. Lett.

Publications

Michael Panzirsch, Harsimran Singh, Marek Sierotowicz, Alexander Dietrich
Extension of the Deflection-Domain Passivity Approach for Variable Stiffnesses to SO(3). IEEE Robotics Autom. Lett. 9 (3) (2024)
Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich
Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions. ICRA (2024)
Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok
Corrigendum to "Learning-based adaption of robotic friction models" [Robotics and Computer-Integrated Manufacturing Volume 89, October 2024]. Robotics Comput. Integr. Manuf. 89 (2024)
Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok
Learning-based adaption of robotic friction models. Robotics Comput. Integr. Manuf. 89 (2024)
Maged Iskandar, Christiaan van Ommeren, Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich
Model Predictive Control Applied to Different Time-Scale Dynamics of Flexible Joint Robots. IEEE Robotics Autom. Lett. 8 (2) (2023)
Marie Harder, Maged Iskandar, Jinoh Lee, Alexander Dietrich
Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots. IROS (2023)
Xuwei Wu, Christian Ott, Alin Albu-Schäffer, Alexander Dietrich
Passive Decoupled Multitask Controller for Redundant Robots. IEEE Trans. Control. Syst. Technol. 31 (1) (2023)
Maged Iskandar, Christian Ott, Alin Albu-Schäffer, Bruno Siciliano, Alexander Dietrich
Hybrid Force-Impedance Control for Fast End-Effector Motions. IEEE Robotics Autom. Lett. 8 (7) (2023)
Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjien Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard
Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments. CoRR (2023)
Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok
Learning-based adaption of robotic friction models. CoRR (2023)
Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjien Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard
Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments. ISM (2023)
Xuwei Wu, Annika Kirner, Gianluca Garofalo, Christian Ott, Paul Kotyczka, Alexander Dietrich
Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators. IEEE Robotics Autom. Lett. 7 (4) (2022)
Xuwei Wu, Christian Ott, Alexander Dietrich
A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot. ACC (2022)
Marie Harder, Manuel Keppler, Xuming Meng, Christian Ott, Hannes Höppner, Alexander Dietrich
Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators. IEEE Robotics Autom. Lett. 7 (3) (2022)
Bastian Deutschmann, Jens Reinecke, Alexander Dietrich
Open Source Tendon-driven Continuum Mechanism: A Platform for Research in Soft Robotics. RoboSoft (2022)
Jens Reinecke, Alexander Dietrich, Anton Shu, Bastian Deutschmann, Marco Hutter
A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement. IEEE Robotics Autom. Lett. 7 (1) (2022)
Maged Iskandar, Christiaan van Ommeren, Xuwei Wu, Alin Albu-Schäffer, Alexander Dietrich
Model Predictive Control for Flexible Joint Robots. CoRR (2022)
Maged Iskandar, Oliver Eiberger, Alin Albu-Schäffer, Alessandro De Luca, Alexander Dietrich
Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy. ICRA (2021)
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
An Ecosystem for Heterogeneous Robotic Assistants in Caregiving: Core Functionalities and Use Cases. IEEE Robotics Autom. Mag. 28 (3) (2021)
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
Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases. Frontiers Robotics AI 8 (2021)
Andre Coelho, Yuri S. Sarkisov, Xuwei Wu, Hrishik Mishra, Harsimran Singh, Alexander Dietrich, Antonio Franchi, Konstantin Kondak, Christian Ott
Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. J. Intell. Robotic Syst. 102 (1) (2021)
Jens Reinecke, Bastian Deutschmann, Alexander Dietrich, Marco Hutter
An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation. IEEE Robotics Autom. Lett. 5 (3) (2020)
Maged Iskandar, Christian Ott, Oliver Eiberger, Manuel Keppler, Alin Albu-Schäffer, Alexander Dietrich
Joint-Level Control of the DLR Lightweight Robot SARA. IROS (2020)
Jörn Vogel, Annette Hagengruber, Maged Iskandar, Gabriel Quere, Ulrike Leipscher, Samuel Bustamante, Alexander Dietrich, Hannes Höppner, Daniel Leidner, Alin Albu-Schäffer
EDAN: An EMG-controlled Daily Assistant to Help People With Physical Disabilities. IROS (2020)
Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. Robotics: Science and Systems (2020)
Alexander Dietrich, Christian Ott
Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots. IEEE Trans. Robotics 36 (1) (2020)
Alessandro M. Giordano, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
Coordination of thrusters, reaction wheels, and arm in orbital robots. Robotics Auton. Syst. 131 (2020)
Alexander Dietrich, Mario Nowitzki, Ron van de Sand, Joerg Reiff-Stephan
Numerical Simulation Of Condensing Ammonia In Plate Heat Exchangers Using CFD. ECMS (2020)
Maged Iskandar, Gabriel Quere, Annette Hagengruber, Alexander Dietrich, Jörn Vogel
Employing Whole-Body Control in Assistive Robotics. IROS (2019)
Bernd Henze, Máximo A. Roa, Alexander Werner, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees. ICRA (2019)
Kristin Bussmann, Alexander Dietrich, Christian Ott
Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation. ICRA (2018)
Alexander Dietrich, Christian Ott, Jaeheung Park
The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case. IEEE Robotics Autom. Lett. 3 (2) (2018)
Bastian Deutschmann, Tong Liu, Alexander Dietrich, Christian Ott, Dongheui Lee
A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism. IEEE Robotics Autom. Lett. 3 (2) (2018)
Anton Shu, Bastian Deutschmann, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
control of a tendon-driven elastic continuum mechanism via a systematic description of nonlinearities. SyRoCo (2018)
Nico Mansfeld, Fabian Beck, Alexander Dietrich, Sami Haddadin
Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators. IROS (2017)
Bernd Henze, Alexander Dietrich, Máximo A. Roa, Christian Ott
Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts. IROS (2017)
Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Christian Ott, Alin Albu-Schäffer, Stefano Stramigioli
Passive Hierarchical Impedance Control Via Energy Tanks. IEEE Robotics Autom. Lett. 2 (2) (2017)
Bastian Deutschmann, Alexander Dietrich, Christian Ott
Position control of an underactuated continuum mechanism using a reduced nonlinear model. CDC (2017)
Bernd Henze, Alexander Dietrich, Christian Ott
An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. IEEE Robotics Autom. Lett. 1 (2) (2016)
Roman Weitschat, Alexander Dietrich, Jörn Vogel
Online motion generation for mirroring human arm motion. ICRA (2016)
Daniel Leidner, Alexander Dietrich, Michael Beetz, Alin Albu-Schäffer
Knowledge-enabled parameterization of whole-body control strategies for compliant service robots. Auton. Robots 40 (3) (2016)
Alexander Dietrich, Kristin Bussmann, Florian Petit, Paul Kotyczka, Christian Ott, Boris Lohmann, Alin Albu-Schäffer
Whole-body impedance control of wheeled mobile manipulators - Stability analysis and experiments on the humanoid robot Rollin' Justin. Auton. Robots 40 (3) (2016)
Alexander Dietrich, Christian Ott, Stefano Stramigioli
Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks. IEEE Robotics Autom. Lett. 1 (1) (2016)
Florian Petit, Alexander Dietrich, Alin Albu-Schäffer
Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots. IEEE Robotics Autom. Mag. 22 (4) (2015)
Christian Ott, Alexander Dietrich, Alin Albu-Schäffer
Prioritized multi-task compliance control of redundant manipulators. Autom. 53 (2015)
Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
An overview of null space projections for redundant, torque-controlled robots. Int. J. Robotics Res. 34 (11) (2015)
Daniel Leidner, Christoph Borst, Alexander Dietrich, Michael Beetz, Alin Albu-Schäffer
Classifying compliant manipulation tasks for automated planning in robotics. IROS (2015)
Daniel Leidner, Alexander Dietrich, Florian Schmidt, Christoph Borst, Alin Albu-Schäffer
Object-centered hybrid reasoning for whole-body mobile manipulation. ICRA (2014)
Jens Reinecke, Alexander Dietrich, Florian Schmidt, Maxime Chalon
on the DLR hand arm system. ICRA (2014)
Dominic Lakatos, Gianluca Garofalo, Alexander Dietrich, Alin Albu-Schäffer
Jumping control for compliantly actuated multilegged robots. ICRA (2014)
Maxime Chalon, Alexander Dietrich, Markus Grebenstein
The Thumb of the Anthropomorphic Awiwi Hand: From Concept to Evaluation. Int. J. Humanoid Robotics 11 (3) (2014)
Christian Ott, Alexander Dietrich, Máximo A. Roa
Torque-based multi-task and balancing control for humanoid robots. URAI (2014)
Alexander Dietrich, Melanie Kimmel, Thomas Wimböck, Sandra Hirche, Alin Albu-Schäffer
Workspace analysis for a kinematically coupled torso of a torque controlled humanoid robot. ICRA (2014)
Dominic Lakatos, Martin Görner, Florian Petit, Alexander Dietrich, Alin Albu-Schäffer
A modally adaptive control for multi-contact cyclic motions in compliantly actuated robotic systems. IROS (2013)
Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability. IROS (2013)
Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger
Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom. IEEE Robotics Autom. Mag. 19 (2) (2012)
Alexander Dietrich, Dominic Eise, Johannes Flick
Fischkopp. SIGGRAPH Asia Computer Animation Festival (2012)
Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger
Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy. IEEE Trans. Robotics 28 (6) (2012)
Alexander Dietrich, Alin Albu-Schäffer, Gerd Hirzinger
On continuous null space projections for torque-based, hierarchical, multi-objective manipulation. ICRA (2012)
Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger
Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint. ICRA (2011)
Berthold Bäuml, Oliver Birbach, Thomas Wimböck, Udo Frese, Alexander Dietrich, Gerd Hirzinger
Catching flying balls with a mobile humanoid: System overview and design considerations. Humanoids (2011)
Alexander Dietrich, Thomas Wimböck, Holger Täubig, Alin Albu-Schäffer, Gerd Hirzinger
Extensions to reactive self-collision avoidance for torque and position controlled humanoids. ICRA (2011)
Berthold Bäuml, Florian Schmidt, Thomas Wimböck, Oliver Birbach, Alexander Dietrich, Matthias Fuchs, Werner Friedl, Udo Frese, Christoph Borst, Markus Grebenstein, Oliver Eiberger, Gerd Hirzinger
Catching flying balls and preparing coffee: Humanoid Rollin'Justin performs dynamic and sensitive tasks. ICRA (2011)
Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer
Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws. IROS (2011)