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Institut für Robotik und Mechatronik: Dr. Markus Grebenstein

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Dr. Markus Grebenstein

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Mechatronische Systeme
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28-1064
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Dr. Sc. ETHZ Markus Grebenstein

 

Forschungsschwerpunkte

  • Design anthropomorpher Hände and Roboter
  • Funktionale Abstraktion menschlicher Extremitäten

Positionen

  • 03/2015--heute Stellvertretender Institutsleiter
  • 01/2010–heute Abteilungsleiter Mechatronische Komponenten und Systeme
  • 05/2009–12/2009 komissarischer Abteilungleiter Mechatronische Komponenten und Systeme
  • 04/2007–2012 wissenschaftlicher Koordinator Entwicklung mehrfingriger Roboterhände
  • 05/2005–2013 Projektleiter DLR Hand Arm System
  • 05/2000–heute Leiter Mechanik Gruppe
  • 05/1999–04/2003 Leiter mechanisches Design DLR-Hand II

Projekte

  • 2003–2012 Entwicklung DLR Hand Arm System
  • 2003–2007 Mitglied Entwicklungsteam (KINEMEDIC und MIRO)
  • 1998–2003 Mechanisches Design der DLR Hand II
  • 1996–1999 Design elektromechanischer Bremsen für PKWs und Züge

Preise

  • 2012 Winner IROS: Best Video Award [Haddadin et al. 2012]
  • 2012 Winner IROS: Best IROS Jubilee Video Award [Vanderborght et al. 2012]
  • 2011 Finalist ICRA: Best Paper Award [Chalon et al. 2011]
  • 2011 Finalist ICRA: Best Video Award [Bäuml et al. 2011]
  • 2010 Winner HUMANOIDS: Best Paper Award [Grebenstein et al. 2010]
  • 2010 3rd place Walter Reis Innovation Award for Robotics
  • 2009 Winner Emerald: Outstanding Paper Award [Hagn et al. 2008]
  • 2000 Finalist ISER: Best Paper Award [Hirzinger et al. 2001]
  • 1998 Roter Punkt für höchste Designqualität (Spacemouse+).

Veröffentlichungen

Bücher

Grebenstein, M. (2014). Approaching Human Performance: The Functionality-Driven Awiwi Robot Hand (Springer Tracts in Advanced Robotics). Berlin; Heidelberg; New York: Springer. ISBN:
3319035924.

Grebenstein, M. (2012). “Approaching human performance: The functionality driven Awiwi robot
hand”. Dissertation. Zurich: ETH Zurich. DOI: 10.3929/ethz-a-007575386.

Journals

Grebenstein, M., M. Chalon, W. Friedl, S. Haddadin, T. Wimböck, G. Hirzinger, and R. Siegwart
(2012). “The hand of the DLR Hand Arm System: Designed for interaction”. In: International
Journal of Robotics Research 31.13: Towards Autonomous Physical Human-Robot Interaction,
pp. 1531–1555. published.

Hagn, U., R. Konietschke, A. Tobergte, M. Nickl, S. Jörg, B. Kübler, G. Passig, M. Gröger, F. Fröhlich,
U. Seibold, L. Le-Tien, A. Albu-Schäffer, A. Nothhelfer, F. Hacker, M. Grebenstein, and G.
Hirzinger (2010). “DLR MiroSurge: A versatile system for research in endoscopic telesurgery”.
In: International Journal of Computer Assisted Radiology and Surgery 5 (2), pp. 183–193. DOI:
10.1007/s11548-009-0372-4.

Smagt, P. van der, M. Grebenstein, H. Urbanek, N. Fligge, M. Strohmayr, G. Stillfried, J. Parrish,
and A. Gustus (2009). “Robotics of human movements”. In: Journal of Physiology-Paris 103.3–5,
pp. 119–132. DOI: 10.1016/j.jphysparis.2009.07.009.
Albu-Schäffer, A., O. Eiberger, M. Grebenstein, S. Haddadin, C. Ott, T. Wimböck, S. Wolf, and G.

Hirzinger (2008). “Soft robotics: From torque feedback controlled lightweight robots to intrinsically
compliant systems”. In: IEEE RAS - Robotics and Automation Magazine 15.3.

Grebenstein, M. and P. van der Smagt (2008). “Antagonism for a highly anthropomorphic handarmsystem”.
In: Advanced Robotics 22.1: On Robotic Platforms for Research in Neuroscience, Part
2, pp. 39–55. DOI: 10.1163/156855308X291836.

Hagn, U., M. Nickl, S. Jörg, G. Passig, T. Bahls, A. Nothhelfer, F. Hacker, L. Le-Tien, A. Albu-
Schäffer, R. Konietschke, M. Grebenstein, R. Warpup, R. Haslinger, M. Frommberger, and G.
Hirzinger (2008). “The DLR MIRO: A versatile lightweight robot for surgical applications”. In:
Industrial Robot: An International Journal 35.4, pp. 324–336. DOI: 10.1108/0143991081087
6427.

Hirzinger, G., N. Sporer, M. Schedl, J. Butterfaß, and M. Grebenstein (2004). “Torque-controlled
lightweight arms and articulated hands: Do we reach technological limits now?” In: International
Journal of Robotics Research 23.4-5, pp. 331–340. ISSN: 0278-3649.

Hirzinger, G., M. Fischer, B. Brunner, R. Köppe, M. Otter, M. Grebenstein, and I. Schäfer (1999).
“Advances in robotics: The DLR experience”. In: International Journal of Robotics Research
18.11: Robotics at the Millenium, pp. 1064–1087. ISSN: 0278-3649.

Konferenzbeiträge and Workshops

Bäuml, B., F. Schmidt, T. Wimböck, O. Birbach, A. Dietrich, M. Fuchs, W. Friedl, U. Frese, C. Borst,
M. Grebenstein, O. Eiberger, and G. Hirzinger (2011). “Catching flying balls and preparing coffee:
Humanoid Rollin’Justin performs dynamic and sensitive tasks”. In: Robotics and Automation
(ICRA), 2011 IEEE International Conference on. (Shanghai, China, May 9–13, 2011), pp. 3443–
3444. DOI: 10.1109/ICRA.2011.5980073.

Chalon, M., A. Wedler, A. Baumann, W. Bertleff, A. Beyer, J. Butterfaß, M. Grebenstein, R. Gruber,
F. Hacker, E. Krämer, K. Landzettel, M. Maier, H.-J. Sedlmayr, N. Seitz, F. Wappler, B. Willberg,
T. Wimböck, G. Hirzinger, and F. Didot (2011b). “Dexhand: A space qualified multi-fingered
robotic hand.” In: Robotics and Automation (ICRA), 2011 IEEE International Conference on.
(Shanghai, China, May 9–13, 2011), pp. 2204–2210. DOI: 10.1109/ICRA.2011.5979923.

Haddadin, S., F. Huber, K. Krieger, R. Weitschat, A. Albu-Schäffer, S. Wolf, W. Friedl, M. Grebenstein,
F. Petit, J. Reinecke, and R. Lampariello (2012b). “Intrinsically elastic robots: The key to
human like performance”. In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International
Conference on. (Vilamoura, Portugal, Oct. 7–12, 2012).

Vanderborght, B., A. Albu-Schäffer, A. Bicchi, E. Burdet, D. G. Caldwell, R. Carloni, M. Catalano,
G. Ganesh, M. Garabini, G. Grioli, S. Haddadin, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S.
Stramigioli, N. Tsagarakis, M. V. Damme, R. V. Ham, L. C. Visser, S. Wolf, and M. Grebenstein
(2012). “Variable impedance actuators: Moving the robots of tomorrow”. In: Intelligent Robots
and Systems (IROS), 2012 IEEE/RSJ International Conference on. (Vilamoura, Portugal, Oct. 7–
12, 2012).

Wedler, A., M. Chalon, K. Landzettel, M. Görner, E. Krämer, R. Gruber, A. Beyer, H. Sedlmayr,
B. Willberg, W. Bertleff, J. Reill, M. Grebenstein, M. Schedl, A. Albu-Schäffer, and G. Hirzinger
(2012). “DLR’s dynamic actuator modules for robotic space applications”. In: Proc. Aerospace
Mechanisms Symposium (AMS). (Pasedena, USA, May 16–18, 2012).

Friedl, W., M. Chalon, J. Reinecke, and M. Grebenstein (2011a). “FAS a flexible antagonistic spring
element for a high performance over actuated hand”. In: Intelligent Robots and Systems (IROS),
2011 IEEE/RSJ International Conference on. (S. Francisco, USA, Sept. 25–30, 2011), pp. 1366–
1372. DOI: 10.1109/IROS.2011.6094569.

Grebenstein, M., A. Albu-Schäffer, T. Bahls, M. Chalon, O. Eiberger, W. Friedl, R. Gruber, S. Haddadin,
U. Hagn, R. Haslinger, H. Höppner, S. Jörg, M. Nickl, A. Nothhelfer, F. Petit, J. Reill, N.
Seitz, T. Wimböck, S. Wolf, T. Wüsthoff, and G. Hirzinger (2011). “The DLR Hand Arm System”.
In: Robotics and Automation (ICRA), 2011 IEEE International Conference on. (Shanghai,
China, May 9–13, 2011). DOI: 10.1109/ICRA.2011.5980371.

Chalon, M., M. Grebenstein, T. Wimböck, and G. Hirzinger (2010). “The thumb: Guidelines for a
robotic design”. In: Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference
on. (Taipei, Taiwan, Oct. 18–22, 2010), pp. 2153–2858.

Grebenstein, M., M. Chalon, G. Hirzinger, and R. Siegwart (2010a). “A method for hand kinematics
designers: 7 billion perfect hands”. In: 1st International Conference on Applied Bionics and
Biomechanics ICABB-2010. (Venice, Italy, Oct. 14–16, 2010).

Grebenstein, M., M. Chalon, G. Hirzinger, and R. Siegwart (2010b). “Antagonistically driven finger
design for the anthropomorphic DLR Hand Arm System”. In: Humanoid Robots (Humanoids),
2010 10th IEEE-RAS International Conference on. (Nashville, USA, Dec. 6–9, 2010). DOI: 10.1
109/ICHR.2010.5686342.

Petit, F., M. Chalon, W. Friedl, M. Grebenstein, A. Albu-Schäffer, and G. Hirzinger (2010). “Bidirectional
antagonistic variable stiffness actuation: Analysis, design and implementation”. In: Robotics
and Automation (ICRA), 2010 IEEE International Conference on. (Anchorage, Alaska, May 3–8,
2010), pp. 4189–4196. DOI: 10.1109/ROBOT.2010.5509267.

Panzer, H., O. Eiberger, M. Grebenstein, P. Schaefer, and P. van der Smagt (2008). “Human motion
range data optimizes anthropomorphic robotic hand-arm system design”. In: Proc. International
Conference on Motion and Vibration Control (MOVIC). (Munich, Germany, Sept. 15–18, 2008).
Technische Universität München, pp. 1–9.

Palli, G., C. Melchiorri, T. Wimböck, M. Grebenstein, and G. Hirzinger (2007). “Feedback linearization
and simultaneous stiffness-position control of robots with antagonistic actuated joints”. In:
Robotics and Automation, 2007 IEEE International Conference on. (Roma, Italy, Apr. 10–14,
2007), pp. 4367–4372.

Butterfaß, J., M. Fischer, M. Grebenstein, S. Haidacher, and G. Hirzinger (2004). “Design and experiences with DLR Hand II”. In: World Automation Congress: Tenth International Symposium
on Robotics with Applications. (Seville, Spain, June 28–July 1, 2004). Vol. 15, pp. 105–110. DOI:
10.1109/WAC.2004.185205.

Gao, X. H., M. H. Jin, L. Jiang, Z. W. Xie, P. He, L. Yang, Y. W. Liu, R. Wei, H. G. Cai, H. Liu,
J. Butterfaß, M. Grebenstein, N. Seitz, and G. Hirzinger (2003). “The HIT/DLR Dexterous Hand:
Work in progress”. In: Robotics and Automation 2003. Proceedings. ICRA ’03 .IEEE International
Conference on. (Taipei, Taiwan, Sept. 14–19, 2003).

Haidacher, S., J. Butterfaß, M. Fischer, M. Grebenstein, K. Jöhl, K. Kunze, M. Nickl, N. Seitz, and
G. Hirzinger (2003). “DLR Hand II: Hard- and software architecture for information processing”.
In: Robotics and Automation 2003. Proceedings. ICRA ’03 .IEEE International Conference on.
(Taipei, Taiwan, Sept. 14–19, 2003). Vol. 1, pp. 684–689. DOI: 10.1109/ROBOT.2003.124167

Hirzinger, G., N. Sporer, M. Schedl, J. Butterfaß, and M. Grebenstein (2003). “Torque-controlled
light weight arms and articulated hands - do we reach technological limits now?” In: Experimental
Robotics VIII: Proceedings of the 8th Symposium on Experimental Robotics ISER02. Ed. by B.
Siciliano and P. Dario. Springer Tracts in Advanced Robotics 5. Berlin: Springer, pp. 21–47. ISBN:
978-3-540-00305-2.

Hirzinger, G., N. Sporer, J. Butterfaß, M. Schedl, M. Grebenstein, H. Liu, M. Hähnle, P. Neumann,
and O. Eiberger (2002a). “Eine neue Generation von Leichtbau-Robotern mit Mehrfingrigen Händen”.
In: Proc. ROBOTIK. (Ludwigsburg, Germany, June 19–20, 2002).

Hirzinger, G., N. Sporer, M. Schedl, J. Butterfaß, and M. Grebenstein (2002b). “Robotics and mechatronics in aerospace”. In: Proc. International Workshop on Advanced Motion Control (AMC).
(Maribor, Slovenia, July 3–5, 2002). Ed. by IEEE. Vol. AMC2002 - Maribor, pp. 19–27.

Butterfaß, J., M. Grebenstein, H. Liu, and G. Hirzinger (2001). “DLR-Hand II: Next generation
of a dexterous robot hand”. In: Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE
International Conference on. (Seoul, Korea, May 21–26, 2001). Vol. 1, pp. 163–178. DOI: 10.1
109/ROBOT.2001.932538.

Hirzinger, G., B. Brunner, J. Butterfaß, M. Fischer, M. Grebenstein, K. Landzettel, and M. Schedl
(2001a). “Space robotics - Towards advanced mechatronic components and powerful telerobotic
systems”. In: PROCEEDINGS: The 6th International Symposium on Artificial Intelligence, Robotics
and Automation in Space: A New Space Odyseey, Montreal Canada June 18 – 22, 2001. (Quebec,
Canada, June 18–22, 2001).

Hirzinger, G., J. Butterfaß, M. Fischer, M. Grebenstein, M. Hähnle, R. Köppe, H. Liu, I. Schäfer, N.
Sporer, and M. Schedl (2001b). “A new generation of light-weight robot arms and multifingered
hands”. In: Experimental Robotics VII. Ed. by D. Rus and S. Singh. Lecture Notes in Control and
Information Science 271. Berlin: Springer, pp. 569–570. ISBN: 3-540-42104-1.

Hirzinger, G., J. Butterfaß, M. Grebenstein, M. Hähnle, I. Schäfer, and N. Sporer (2001c). “Robonauts
need light-weight arms and articulated hands”. In: Proc. Harmonic Drive International Symposium.
(Nagano,Japan, Nov. 20–21, 2001), pp. 93–100.

Hirzinger, G., J. Butterfaß, M. Grebenstein, I. Schäfer, N. Sporer, M. Fischer, H. Liu, A. Albu-
Schäffer, M. Schedl, and P. Neumann (2001d). “Space robotics - Driver for a new mechatronic
generation of light-weight Arms and Multifingered Hands”. In: Advanced Intelligent Mechatronics,
2001. Proceedings. 2001 IEEE/ASME International Conference on. (Como, Italy, July 8–12,
2001), pp. 1160–1168.

Liu, H., J. Butterfaß, M. Grebenstein, and G. Hirzinger (2001). “DLR multisensory articulated hand I
and II”. In: International Workshop on Bio-Robotics and Teleoperation. (Beijing, China, May 27–
30, 2001).

Hirzinger, G., J. Butterfaß, M. Fischer, M. Grebenstein, M. Hähnle, H. Liu, I. Schäfer, and N. Sporer
(2000a). “A mechatronics approach to the design of light-weight arms and multifingered hands”.
In: Robotics and Automation, 2000. Proceedings. ICRA ’00. IEEE International Conference on.
(San Francisco, USA, Apr. 24–28, 2000). Vol. 1, pp. 46–54.

Hirzinger, G., J. Butterfaß, M. Grebenstein, M. Hähnle, I. Schaefer, and N. Sporer (2000b). “Robonauts
need light-weight arms and articulated hands”. In: ESA Workshop on Advanced Space Technologies
for Robotics and Automation ASTRA. (Noordwijk, Netherlands, Dec. 5–7, 2000).

Hirzinger, G., J. Butterfaß, M. Grebenstein, M. Hähnle, I. Schäfer, and N. Sporer (2000c). “A mechatronics
approach to the design of light-weight arms”. In: Proc. International Workshop on Robotics
in Alpe-Adria-Danube Region. (Maribor, Slovenia, June 1–3, 2000).

Hirzinger, G., K. Landzettel, B. Brunner, I. Schäfer, M. Fischer, M. Grebenstein, N. Sporer, J.
Schott, M. Schedl, and C. Deutrich (1999). “DLR’s robotic lab - recent developments in space
robotics”. In: iSAIRAS ’99: Fifth International Symposium on Artificial Intelligence, Robotics and
Automation in Space, ESTEC, Nordwijk, The Netherlands 1–3 June 1999. (Noordwijk, Netherlands,
June 1–3, 1999).

Lizensierte Patente

Grebenstein, M. (2005a). “[DE] Kupplung zum Ausgleichen eines Achsversatzes”. Patent Application
DE102005058661A1 (DE). Deutsches Zentrum für Luft- und Raumfahrt e.V.


Dietrich, J., B. Gombert, and M. Grebenstein (2003). “Self-energising electromechanical brake”.
Granted Patent EP0953785B1 (EP). Deutsches Zentrum für Luft- und Raumfahrt e.V.


Dietrich, J., M. Grebenstein, T. D. Lange, and M. Schedl (2001a). “[DE] Steuerung und Regelung von
Elektromotoren [EN] Control and Regulation of Electric Motors”. Granted Patent EP01293033B1
(EP). Deutsches Zentrum für Luft- und Raumfahrt e.V.


Dietrich, J., M. Grebenstein, T. Lange, M. Schedl, and P. Neumann (2001d). “[DE] Vorrichtungen für
Roboterantriebseinheiten [EN] Devices for Robot Drive Units”. Granted Patent EP01293024B1
(EP). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

 

Zuletzt aktualisiert: Montag, 08. Mai 2017 von Dr. Markus Grebenstein