Mitarbeiter
Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Mechatronische Systeme
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling
| Telefon: | +49 8153 28-1089 |
| E-Mail: | Dr.-Ing. Martin Görner |
Forschungsschwerpunkte
- Entwurf und Analyse von sechs- und achtbeinigen Robotern
- Entwicklung und Erprobung von fehlertoleranten Gangalgorithmen
- Nachgiebige Regelung
- Dynamisches Laufen von elastischen Sechsbeinern
- Multimodale Eigenbewegungsschätzung für beinbasierte Roboter
- Entwurf und Analyse von hybriden Rovern (Rad-Bein-Kombinationen)
Veröffentlichungen
Zeitschriftenartikel
[J3] M. Görner and A. Stelzer (2013) A leg proprioception based 6 DOF odometry for statically stable walking robots. Autonomous Robots, 34 (4), pages 311-326. Springer. DOI: 10.1007/s10514-013-9326-3 ISSN 0929-5593
[J2] A. Stelzer, H. Hirschmüller and M. Görner (2012) Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain. The International Journal of Robotics Research, 31 (4), pages 381-402. SAGE Publications. DOI: 10.1177/0278364911435161 ISSN 0278-3649
[J1] M. Görner, , T. Wimböck and G. Hirzinger (2009) The DLR Crawler: evaluation of gaits and control of an actively compliant six-legged walking robot. Industrial Robot: An International Journal, 36 (4), Seiten 344-351. Emerald Group. DOI: 10.1108/01439910910957101 ISSN 0143-991X
Konferenzbeiträge
[C12] M. Görner (2014) Towards robust hexapedal running with serial elastic actuation: A 3D simulation study. Dynamic Walking 2014, Zürich, Schweiz
[C11] J.J.M. Driessen and M. Görner (2014) The effects of serial elastic actuation and upper body configuration on power consumption of a simplified planar humanoid. Dynamic Walking 2014, Zürich, Schweiz.
[C10] M. Görner and A. Albu-Schäffer (2013) A robust sagittal plane hexapedal running model with serial elastic actuation and simple periodic feedforward control. In: Proc. of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5586-5592, Tokio, Japan
[C09] D. Lakatos, M. Görner, F. Petit, A. Dietrich and A. Albu-Schäffer (2013) A Modally Adaptive Control for Multi-Contact Cyclic Motions in Compliantly Actuated Robotic Systems. In: Proc. of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5388-5395, Tokio, Japan
[C08] M. Görner and A. Albu-Schäffer (2013) A sagittal plane hexapedal running model: Towards robust locomotion with feedforward actuated serial elastic hips and serial elastic telescoping legs. Dynamic Walking 2013, Pittsburgh, USA.
[C07] A.. Wedler, M. Chalon, K. Landzettel, M. Görner, E. Krämer, R. Gruber, A. Beyer, H.-J. Sedlmayr, B. Willberg, W. Bertleff, J. Reill, M. Schedl, A. Albu-Schäffer and G. Hirzinger (2012) DLRs dynamic actuator modules for robotic space applications. 41st Aerospace Mechanisms Symposium, Pasadena, USA
[C06] A. Chilian, H. Hirschmüller and M. Görner (2011) Multisensor Data Fusion for Robust Pose Estimation of a Six-Legged Walking Robot. In: Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2497-2504, San Francisco, CA, USA
[C05] M. Görner, A. Chilian and H. Hirschmüller (2010) Towards an Autonomous Walking Robot for Planetary Surfaces. In: Proc. of the 2010 International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), pages 170-177, Sapporo, Japan
[C04] M. Görner and G. Hirzinger (2010) Analysis and Evaluation of the Stability of a Biologically Inspired, Leg Loss Tolerant Gait for Six- and Eight-Legged Walking Robots. In: Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), pages 4728-4735, Anchorage, Alaska, USA
[C03] B. Schäfer, B. Rebele, M. Schedl, M. Görner, A.. Armin R. Krenn, A. Seeni and G. Hirzinger (2008) Light-Weight Mechatronics and Sensorics for Robotic Applications: A DLR Perspective. In: Proc. of the 2008 International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Los Angeles, CA, USA
[C02] M. Görner and G. Hirzinger (2008) The DLR-Crawler: Gaits and Control of an Actively Compliant Hexapod. In: Proc. of the 2008 Conference on Climbing and Walking Robots (CLAWAR) (Advances in Mobile Robotics, ISBN-10 981-283-576-8, pages 720-727), Coimbra, Portugal
[C01] M. Görner, T. Wimböck, A.. Baumann, M. Fuchs, T. Bahls, M. Grebenstein, C. Borst, J. Butterfass, and G. Hirzinger (2008) The DLR-Crawler: A Testbed for Actively Compliant Hexapod Walking Based on the Fingers of DLR-Hand II. In: Proc. of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1525-1531, Nice, France