Alexander Dietrich

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Alin Albu-SchäfferDLR-German Aerospace Center, Institute of Robotics and Mechatronics; TU Munich, Dept. of InformaticsVerified email at dlr.de
Christian OttAutomation and Control Institute (ACIN), TU Wien // German Aerospace Center (DLR)Verified email at tuwien.ac.at
Daniel LeidnerGerman Aerospace Center (DLR)Verified email at dlr.de
Maged IskandarGerman Aerospace Center (DLR)Verified email at dlr.de
Jörn VogelGerman Aerospace Center (DLR)Verified email at dlr.de
Xuwei WuGerman Aerospace Center (DLR), Institute of Robotics and MechatronicsVerified email at dlr.de
Florian SchmidtGerman Aerospace Center (DLR) - Institute of Robotics and MechatronicsVerified email at dlr.de
Bernd HenzeGerman Aerospace Center (DLR)Verified email at dlr.de
Christoph BorstKUKA Deutschland GmbHVerified email at kuka.com
Berthold BäumlTechnical University of Munich; TUM School of Computation, Information and TechnologyVerified email at tum.de
Annette HagengruberInstitute of Robotics and Mechatronics, German Aerospace CenterVerified email at dlr.de
Bastian DeutschmannGerman Aerospace Center (DLR), Institute of Robotics and MechatronicsVerified email at dlr.de
Florian PetitInstitute of Robotics and Mechatronics, German Aerospace Cener (DLR)Verified email at dlr.de
Gabriel QuereGerman Aerospace Center (DLR)Verified email at dlr.de
Jens ReineckeInstitute of Robotics and Mechatronics, German Aerospace Center (DLR)Verified email at dlr.de
Michael PanzirschDLR RMCVerified email at dlr.de
Maximo A. Roa-GarzonSenior Research Scientist, German Aerospace Center (DLR)Verified email at dlr.de
Werner FriedlWissenschaftler Mitarbeiter, DLR RMCVerified email at dlr.de
Paul KotyczkaTechnical University of Munich, Chair of Automatic ControlVerified email at tum.de
Johannes EnglsbergerDLR (German Aerospace Center)Verified email at dlr.de

Alexander Dietrich

German Aerospace Center (DLR), Institute of Robotics and Mechatronics

Verified email at dlr.de

Robotics Control Humanoid Robots Whole-Body Control


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An Overview of Null Space Projections for Redundant, Torque-Controlled Robots A Dietrich, C Ott, A Albu-Schäffer The International Journal of Robotics Research 34 (11), 1385-1400, 2015	207	2015
Prioritized Multi-Task Compliance Control of Redundant Manipulators C Ott, A Dietrich, A Albu-Schäffer Automatica 53, 416-423, 2015	158	2015
Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom A Dietrich, T Wimböck, A Albu-Schäffer, G Hirzinger IEEE Robotics & Automation Magazine 19 (2), 20-33, 2012	127	2012
Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy A Dietrich, T Wimböck, A Albu-Schäffer, G Hirzinger IEEE Transactions on Robotics 28 (6), 1278-1293, 2012	106	2012
Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin A Dietrich, K Bussmann, F Petit, P Kotyczka, C Ott, B Lohmann, ... Autonomous Robots 40 (3), 505-517, 2016	96	2016
Catching Flying Balls and Preparing Coffee: Humanoid Rollin' Justin Performs Dynamic and Sensitive Tasks B Bäuml, F Schmidt, T Wimböck, O Birbach, A Dietrich, M Fuchs, W Friedl, ... 2011 IEEE International Conference on Robotics and Automation (ICRA), 3443-3444, 2011	92	2011
Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot via Impedance Control Laws A Dietrich, T Wimböck, A Albu-Schäffer 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2011	76	2011
Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots A Dietrich, C Ott IEEE Transactions on Robotics 36 (1), 204-221, 2020	73	2020
An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots B Henze, A Dietrich, C Ott IEEE Robotics and Automation Letters 1 (2), 700-707, 2016	72	2016
Catching Flying Balls with a Mobile Humanoid: System Overview and Design Considerations B Bäuml, O Birbach, T Wimböck, U Frese, A Dietrich, G Hirzinger 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids …, 2011	66	2011
Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots F Petit, A Dietrich, A Albu-Schäffer IEEE Robotics & Automation Magazine 22 (4), 37-51, 2015	63	2015
Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability A Dietrich, C Ott, A Albu-Schäffer 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2013	62	2013
Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids A Dietrich, T Wimböck, H Täubig, A Albu-Schäffer, G Hirzinger 2011 IEEE International Conference on Robotics and Automation (ICRA), 3455-3462, 2011	62	2011
Object-Centered Hybrid Reasoning for Whole-Body Mobile Manipulation D Leidner, A Dietrich, F Schmidt, C Borst, A Albu-Schäffer 2014 IEEE International Conference on Robotics and Automation (ICRA), 1828-1835, 2014	60	2014
Experimental Comparison of Slip Detection Strategies by Tactile Sensing with the BioTac on the DLR Hand Arm System J Reinecke, A Dietrich, F Schmidt, M Chalon 2014 IEEE International Conference on Robotics and Automation (ICRA), 2742-2748, 2014	59	2014
Passive Hierarchical Impedance Control via Energy Tanks A Dietrich, X Wu, K Bussmann, C Ott, A Albu-Schaffer, S Stramigioli IEEE Robotics and Automation Letters 2 (2), 522-529, 2017	50	2017
On Continuous Null Space Projections for Torque-Based, Hierarchical, Multi-Objective Manipulation A Dietrich, A Albu-Schäffer, G Hirzinger 2012 IEEE International Conference on Robotics and Automation (ICRA), 2978-2985, 2012	50	2012
Knowledge-enabled parameterization of whole-body control strategies for compliant service robots D Leidner, A Dietrich, M Beetz, A Albu-Schäffer Autonomous Robots 40 (3), 519-536, 2016	45	2016
The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case A Dietrich, C Ott, J Park IEEE Robotics and Automation Letters 3 (2), 1120-1127, 2018	43	2018
Whole-Body Impedance Control of Wheeled Humanoid Robots A Dietrich Springer International Publishing, 2016	42	2016

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