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Mitarbeiter

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Dr.-Ing. Alexander Dietrich

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Analyse und Regelung komplexer Robotersysteme
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28-1181
E-Mail: Dr.-Ing. Alexander Dietrich

Short Biography (01/2019)

Alexander Dietrich received his Dipl.-Ing. degree in mechanical engineering from the Technical University of Munich (TUM) in 2008 and the Dr.-Ing. degree in 2015. In 2010, he joined the German Aerospace Center (DLR), Institute of Robotics and Mechatronics, as a research scientist. In 2016, he received the Georges Giralt PhD Award for the best European thesis in robotics. He published more than 30 peer-reviewed papers in international journals, books and on conferences. He is Associate Editor for the IEEE Robotics and Automation Magazine (RAM), the IEEE Robotics and Automation Letters (RA-L), the IEEE ICRA 2016-2018, and he is co-chair of the IEEE RAS Technical Committee on Whole-Body Control. Since 2017 he is head of the whole-body control group. His current research interests include whole-body mobile manipulation, impedance and force control, hierarchical control for kinematically redundant robots, and safe physical human–robot interaction.

 

Awards and Honors

  • Winner of the 2016 Georges Giralt PhD Award (best European PhD thesis in robotics)
  • Winner of the Best WBC-Video Award 2016 (IEEE-RAS TC on Whole-Body Control)
  • Finalist for the Best Paper Award on Safety, Security, and Rescue Robotics at IROS 2017
  • Finalist for the Best WBC-Paper Award 2016 (IEEE-RAS TC on Whole-Body Control)
  • Finalist for the Best Video Award at AAAI 2015
  • Finalist for the Best Video Award at ICRA 2011 [PDF]
  • Distinguished reviewer of the IEEE Transactions on Robotics (2010-2012) [PDF]
  • Dissertation [M1] defended with "summa cum laude" (passed with highest distinction)
  • Diploma in mechanical engineering with highest distinction

 

Responsibilities and Functions

... at the Institute of Robotics and Mechatronics, DLR

  • Head of whole-body control group
  • Project leader of the SMiLE project (1,494,000€ funding)
  • Institute responsible for the research plan Robot Dynamics & Simulation
  • Institute responsible for the core process Science

... in the international robotics community 

  • Associate Editor (AE) for the IEEE Robotics and Automation Magazine (RAM)
  • Associate Editor (AE) for the IEEE Robotics and Automation Letters (RA-L)
  • Associate Editor (AE) for the IEEE ICRA 2016 (Stockholm), 2017 (Singapore), 2018 (Brisbane)
  • Co-Chair of the IEEE RAS Technical Committee on Whole-Body Control
  • Member of the Program Committee for RSS 2016 (Michigan, USA)

 

Publications

Journal Papers

[J14] Alexander Dietrich, Christian Ott, and Jaeheung Park, "The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case", IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 2, pp. 1120-1127, April 2018. [ PDF@IEEEXplore ]

[J13] Bastian Deutschmann, Tong Liu, Alexander Dietrich, Christian Ott, and Dongheui Lee, "A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism", IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 3, pp. 1450-1457, July 2018. [ PDF@IEEEXplore ]

[J12] Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Christian Ott, Alin Albu-Schäffer, and Stefano Stramigioli, "Passive Hierarchical Impedance Control via Energy Tanks", IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 2, pp. 522-529, April 2017. [ PDF@IEEEXplore ]

[J11] Alexander Dietrich, Kristin Bussmann, Florian Petit, Paul Kotyczka, Christian Ott, Boris Lohmann, and Alin Albu-Schäffer, "Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin", Autonomous Robots (AURO): Special Issue on Whole-Body Control of Contacts and Dynamics for Humanoid Robots, vol. 40, no. 3, pp. 505-517, March 2016. [ PDF@Springer ]

[J10] Daniel Leidner, Alexander Dietrich, Michael Beetz, and Alin Albu-Schäffer, "Knowledge-enabled parameterization of whole-body control strategies for compliant service robots", Autonomous Robots (AURO): Special Issue on Whole-Body Control of Contacts and Dynamics for Humanoid Robots, vol. 40, no. 3, pp. 519-536, March 2016. [ PDF@Springer ]

[J9] Alexander Dietrich, Christian Ott, and Stefano Stramigioli, "Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks", IEEE Robotics and Automation Letters (RA-L), vol. 1, no. 1, pp. 184-191, January 2016. [ PDF@IEEEXplore ]

[J8] Bernd Henze, Alexander Dietrich, and Christian Ott, "An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots", IEEE Robotics and Automation Letters (RA-L), vol. 1, no. 2, pp. 700-707, July 2016. [ PDF@IEEEXplore ]

[J7] Florian Petit, Alexander Dietrich, and Alin Albu-Schäffer, "Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots", IEEE Robotics & Automation Magazine (RAM), vol. 22, no. 4, pp. 37-51, December 2015. [ PDF@IEEEXplore ]

[J6] Alexander Dietrich, Christian Ott, and Alin Albu-Schäffer, "An Overview of Null Space Projections for Redundant, Torque-Controlled Robots", The International Journal of Robotics Research (IJRR), vol. 34, no. 11, pp. 1385-1400, September 2015. [ DraftPDF@SAGE journals ]

[J5] Christian Ott, Alexander Dietrich, Daniel Leidner, Alexander Werner, Johannes Englsberger, Bernd Henze, Sebastian Wolf, Maxime Chalon, Werner Friedl, Alexander Beyer, Oliver Eiberger, and Alin Albu-Schäffer, "From Torque-Controlled to Intrinsically Compliant Humanoid Robots", ASME Dynamic Systems & Control Magazine, vol. 3, no. 2, pp. 7-11, June 2015. 

[J4] Christian Ott, Alexander Dietrich, and Alin Albu-Schäffer, "Prioritized Multi-Task Compliance Control of Redundant Manipulators", Automatica, vol. 53, pp. 416-423, March 2015. [ PDF@Elsevier ]

[J3] Maxime Chalon, Alexander Dietrich, and Markus Grebenstein, "The Thumb of the Anthropomorphic Awiwi Hand: From Concept to Evaluation", International Journal of Humanoid Robotics (IJHR), vol. 11, no. 3, September 2014. [ PDF@WorldScientific ]

[J2] Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, and Gerd Hirzinger, "Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy", IEEE Transactions on Robotics (T-RO), vol. 28, no. 6, pp. 1278-1293, December 2012. [ Draft , PDF@IEEEXplore ]

[J1] Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, and Gerd Hirzinger, "Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom", IEEE Robotics & Automation Magazine (RAM): Special Issue on Mobile Manipulation, vol. 19, no. 2, pp. 20-33, June 2012. [ Draft , PDF@IEEEXplore ]

 

Books and Book Chapters

[B2] Christian Ott, Maximo. A. Roa, Florian Schmidt, Werner Friedl, Johannes Englsberger, Robert Burger, Alexander Werner, Alexander Dietrich, Daniel Leidner, Bernd Henze, Oliver Eiberger, Alexander Beyer, Berthold Bäuml, Christoph Borst, and Alin Albu-Schäffer, “Mechanisms and Design of DLR Humanoid Robots”, in Humanoid Robotics: A Reference, pp. 1-26, Springer International Publishing, 2017. [ Springer ]

[B1] Alexander Dietrich, “Whole-Body Impedance Control of Wheeled Humanoid Robots”, volume 116 of Springer Tracts in Advanced Robotics, 978-3-319-40556-8, Springer International Publishing, 2016. [ Springer

 

Conference Papers

[C23] Anton Shu, Bastian Deutschmann, Alexander Dietrich, Christian Ott, and Alin Albu-Schäffer, "Robust H∞ control of a tendon-driven elastic continuum mechanism via a systematic description of nonlinearities", accepted for publication at the 12th IFAC Symposium on Robot Control (SYROCO), Budapest, Hungary, August 2018.

[C22] Alexander Dietrich, Christian Ott, and Jaeheung Park, "The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case", IEEE Robotics and Automation Letters (RA-L), presented at the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.

[C21] Kristin Bussmann, Alexander Dietrich, and Christian Ott, "Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation", in Proc. of the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, pp. 910-917, May 2018. [ PDF@IEEEXplore ]

[C20] Bastian Deutschmann, Alexander Dietrich, and Christian Ott, "Position Control of an Underactuated Continuum Mechanism using a Reduced Nonlinear Model", in Proc. of the 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, pp. 5223-5230, December 2017. [ PDF@IEEEXplore ]

[C19] Bernd Henze, Alexander Dietrich, Maximo A. Roa, and Christian Ott, "Multi-Contact Balancing of Humanoid Robots in Confined Spaces: Utilizing Knee Contacts", in Proc. of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, pp. 697-704, September 2017. (Finalist for Best Paper Award on Safety, Security, and Rescue Robotics) [ PDF@IEEEXplore ]

[C18] Nico Mansfeld, Fabian Beck, Alexander Dietrich, and Sami Haddadin, "Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant Manipulators", in Proc. of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, pp. 5368-5375, September 2017. [ PDF@IEEEXplore ]

[C17] Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Christian Ott, Alin Albu-Schäffer, and Stefano Stramigioli, "Passive Hierarchical Impedance Control via Energy Tanks", IEEE Robotics and Automation Letters (RA-L), presented at the 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017. [ PDF@IEEEXplore ]

[C16] Alexander Dietrich, Christian Ott, and Stefano Stramigioli, "Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks", IEEE Robotics and Automation Letters (RA-L), presented at the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016. [ PDF@IEEEXplore ]

[C15] Bernd Henze, Alexander Dietrich, and Christian Ott, "An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots", IEEE Robotics and Automation Letters (RA-L), presented at the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016. [ PDF@IEEEXplore ]

[C14] Roman Weitschat, Alexander Dietrich, and Jörn Vogel, "Online Motion Generation for Mirroring Human Arm Motion", in Proc. of the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, pp. 4245-4250, May 2016. [ PDF@IEEEXplore ]

[C13] Daniel Leidner, Christoph Borst, Alexander Dietrich, Michael Beetz, and Alin Albu-Schäffer, "Classifying Compliant Manipulation Tasks for Automated Planning in Robotics", in Proc. of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 1769-1776, September 2015. [ PDF@IEEEXplore ]

[C12] Christian Ott, Alexander Dietrich, and Maximo A. Roa, "Torque-based multi-task and balancing control for humanoid robots", in Proc. of the 11th International Conference on Ubiquituous Robots and Ambient Intelligence (URAI), Kuala Lumpur, Malaysia, pp. 143-144, November 2014. (Invited Talk)PDF@IEEEXplore ]

[C11] Alexander Dietrich, Melanie Kimmel, Thomas Wimböck, Sandra Hirche, and Alin Albu-Schäffer, "Workspace Analysis for a Kinematically Coupled Torso of a Torque Controlled Humanoid Robot", in Proc. of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pp. 3439-3445, June 2014. [ Draft , PDF@IEEEXplore ]

[C10] Daniel Leidner, Alexander Dietrich, Florian Schmidt, Christoph Borst, and Alin Albu-Schäffer, "Object-Centered Hybrid Reasoning for Whole-Body Mobile Manipulation", in Proc. of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pp. 1828-1835, June 2014. [ Draft , PDF@IEEEXplore ]

[C9] Dominic Lakatos, Gianluca Garofalo, Alexander Dietrich, and Alin Albu-Schäffer, "Jumping Control for Compliantly Actuated Multilegged Robots", in Proc. of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pp. 4562-4568, June 2014. [ Draft , PDF@IEEEXplore ]

[C8] Jens Reinecke, Alexander Dietrich, and Maxime Chalon, "Experimental Comparison of Slip Detection Strategies by Tactile Sensing with the BioTac on the DLR Hand Arm System", in Proc. of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pp. 2742-2748, June 2014. [ PDF@IEEEXplore ]

[C7] Alexander Dietrich, Christian Ott, and Alin Albu-Schäffer, "Multi-Objective Compliance Control of Redundant Manipulators: Hierarchy, Control, and Stability", in Proc. of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 3043-3050, November 2013. [ Draft , PDF@IEEEXplore ]

[C6] Dominic Lakatos, Martin Görner, Florian Petit, Alexander Dietrich, and Alin Albu-Schäffer, "A Modally Adaptive Control for Multi-Contact Cyclic Motions in Compliantly Actuated Robotic Systems: Experiment and Simulation", in Proc. of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 5388-5395, November 2013. [ Draft , PDF@IEEEXplore ]

[C5] Alexander Dietrich, Alin Albu-Schäffer, and Gerd Hirzinger, "On Continuous Null Space Projections for Torque-Based, Hierarchical, Multi-Objective Manipulation", in Proc. of the 2012 IEEE International Conference on Robotics and Automation (ICRA), St. Paul, USA, pp. 2978-2985, May 2012. [ Draft , PDF@IEEEXplore ]

[C4] Berthold Bäuml, Oliver Birbach, Thomas Wimböck, Udo Frese, Alexander Dietrich, and Gerd Hirzinger, "Catching Flying Balls with a Mobile Humanoid: System Overview and Design Considerations", in Proc. of the 11th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), Bled, Slovenia, pp. 513-520, October 2011. [ Draft , PDF@IEEEXplore ]

[C3] Alexander Dietrich, Thomas Wimböck, and Alin Albu-Schäffer, "Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot via Impedance Control Laws", in Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, pp. 3199-3206, September 2011. [ Draft , YouTube , PDF@IEEEXplore ]

[C2] Alexander Dietrich, Thomas Wimböck, Holger Täubig, Alin Albu-Schäffer, and Gerd Hirzinger, "Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids", in Proc. of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, pp. 3455-3462, May 2011. [ Draft , YouTube , PDF@IEEEXplore ]

[C1] Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, and Gerd Hirzinger, "Singularity Avoidance for Nonholonomic, Omnidirectional Wheeled Mobile Platforms with Variable Footprint", in Proc. of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, pp. 6136-6142, May 2011. [ Draft , YouTube , PDF@IEEEXplore ]

 

Patents

[P10*] Information undisclosed, filed in April 2018 at DPMA (under review).

[P9*] Information undisclosed, filed in February 2018 at DPMA (under review).

[P8*] Bastian Deutschmann, Alexander Dietrich, Tong Liu, and Christian Ott, "Verfahren und Vorrichtung zur Charakterisierung eines Kontinuumgelenks", German patent application no. 10 2017 215 432.2, filed on September 4, 2017 (under review).

[P7*] Alexander Dietrich, Jörn Vogel, and Annette Hagengruber, "Koordinierte Ganzkörperregelung eines Rollstuhls mit darauf montiertem Roboterarm über ein kontinuierliches Eingabesignal durch den Menschen", German patent application no. 10 2017 214 005.4, filed on August 10, 2017 (under review).

[P6*] Information undisclosed, filed in January 2017 at DPMA (under review).

[P5*] Jens Reinecke and Alexander Dietrich, “Federmechanismus”, German patent application no. 10 2015 206 811.0, filed on April 15, 2015 (under review).

[P4] Bastian Deutschmann, Alexander Dietrich, Jens Reinecke, and Florian Steidle, "Kontinuumsgelenk", German patent application no. 102017200866, patented on January 20, 2017.

[P3] Jens Reinecke, Alexander Dietrich, and Florian Löffl, “Robotergelenk”, German patent application no. 102017203595, patented on March 6, 2017.

[P2] Daniel Leidner, Oliver Eiberger, Florian Schmidt, and Alexander Dietrich, "Verfahren zum Planen der Bewegung eines Roboterarms", German patent application no. 102016221463, patented on November 3, 2016.

[P1] Alexander Dietrich, Kristin Bussmann, Christian Ott, and Alin Albu-Schäffer, “Ganzkörperimpedanz für mobile Roboter”, German patent application no. 102014226936, patented on December 23, 2014. [ DEPATISnet ]

(* under review)

 

Miscellaneous (Video Publications, German Publications, Workshops, etc.)

[G2] Alexander Dietrich, Jörn Vogel, Annette Hagengruber, Daniel Leidner, Peter Schmaus, Nico Mansfeld, Julian Klodmann, Thomas Bahls, Michael Panzirsch, Lioba Suchenwirth, and Alin Albu-Schäffer, “Feinfühlige, interaktive Roboter in Krankenhaus und Pflege: Wo stehen wir und wohin geht die Reise?”, in Zeitschrift für medizinische Ethik, vol. 64, no. 4, pp. 307-325, November 2018. [ ZfmE ]

[G1] Jörn Vogel, Daniel Leidner, Annette Hagengruber, Michael Panzirsch, and Alexander Dietrich, “Das Projekt SMiLE: Servicerobotik für Menschen in Lebenssituationen mit Einschränkungen”, in Tagungsband der 1. Clusterkonferenz Zukunft der Pflege, Oldenburg, Germany, June 2018. [ Website ]

[W1] Daniel Leidner, Alexander Dietrich, and Michael Beetz, “Workshop on Cognitive Whole-Body Control for Compliant Robot Manipulation”, Workshop at the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. [ Website ]

[M1] Alexander Dietrich, “Whole-Body Impedance Control of Wheeled Humanoid Robots”, dissertation, Technische Universität München (TUM). November 2015. [ PDF ]

[V2] Daniel Leidner, Alexander Dietrich, "Towards Intelligent Compliant Service Robots", in Twenty-Ninth AAAI Conference on Artificial Intelligence, Austin, USA, January 2015. (Finalist for Best Video Award) [ YouTube ]

[V1] Berthold Bäuml, Florian Schmidt, Thomas Wimböck, Oliver Birbach, Alexander Dietrich, Matthias Fuchs, Werner Friedl, Udo Frese, Christoph Borst, Markus Grebenstein, Oliver Eiberger, and Gerd Hirzinger, "Catching Flying Balls and Preparing Coffee: Humanoid Rollin' Justin Performs Dynamic and Sensitive Tasks", in Proc. of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, pp. 3443-3444, May 2011. (Finalist for Best Video Award 2011) [ Draft , YouTube , PDF@IEEEXplore ]

 

In the Media

 

The provided manuscripts are draft versions. The files are only for personal use! Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

 

Zuletzt aktualisiert: Donnerstag, 10. Januar 2019 von Dr.-Ing. Alexander Dietrich