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Dr. -Ing. Armin Wedler

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

Telefon: 08153-28-1849
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Date of Birth:  20 May 1974 in Hanover

Dr. Armin Wedler received his Diploma in Mechanical Engineering and Bachelor in Robotics from the Leibniz University of Hanover in 2004 and his PhD on “Adaptive passive compliant systems for use in robotics” in 2010.
Starting in 2006, he worked for Leibniz University of Hanover until he joined the German Aerospace Center, the Robotic and Mechatronic Institute in 2008.Since then, he has been focusing on the design and development of advanced space robotics, planetary exploration and mobile robotic systems.
Beginning with his deepest interest for new actuation and innovative system design Mr. Wedler supported the space projects EXOMARS and DEXHAND as technical expert and system engineer. In continuation he developed more interest and knowledge on higher level autonomous functionalities of mobile systems but as well in Team coordination which has made him suitable to lead and coordinate the Lunar Lander/ Mobile Payload Project, the internal projects TeaM and MOREX, and become the DLR wide Leader and Spokesperson of the ROBEX Helmholtz alliance.
Furthermore since 2014 Mr. Wedler is coordinating the planetary Exploration Domain inside the DLR-RM Institute, the Rover development Team and the mobile Robotic Group. Furthermore he is a high requested reviewer for several Journals and Conferences. He has become project coordinator for the ARCHES Future topic project, funded by the HGF. Since 2014 Mr. Wedler is active in the ISECG (International Space Exploration Coordination Group), support the GER3 development, the GAP Reports towards autonomy and teleoperation for future robotic and human shared planetary exploration.

Employment History

01/2008 – Present:  German Space Agency (DLR), Munich, Germany
Position:  Research scientist in the department of “Mechatronic Components and Systems” (space robot and mobility group), Institute of Robotics and Mechatronics (RM)

02/2006 - 12/2007: University of Hanover (LUH), Hanover, Germany
Position: Research scientist in the department of “Machine Structures”, Institute of Production Engineering and Machine Tools (IFW)

Education

12/2010: University of Hanover, (LUH)  Hanover , Germany
Doctor Ingenieur (Dr.-Ing.); Grade: “Very Good”

10/2004: University of Hanover, (LUH)  Hanover, Germany
Diploma Degree: Mechanical Engineering
Major: Mechatronics (Dipl.-Ing.); Grade “Good”
Thesis performed at ESTEC / TEC-MMA (05/2004-10/2004)

06/2004: University of Hanover, (LUH)  Hanover, Germany
Bachelor of Science: Mechanical Engineering (B.Sc.); Grade: “Good”

Field of Interest:

  • System design of mobile robots, such as wheeled, legged and hybrid concepts including innovative actuation and drive unit concept.
  • Design and Operational concepts for planetary space exploration missions, focusing on the challenges of robotic concepts for locomotion sub systems and autonomous perception capabilities of mobile robots
  • Perception and cognition aspects regarding the goal of enabling robotic assets to be operated in a teleoperation mode, a shared autonomy and high autonomy mode. Facing the challenges of autonomous

Functions:

Projects:

  • 2008 – 2010: EXOMARS -Exobiology on Mars
    • Mechanical design of the drive train system for the exomars rover
    • Development of a bevel gear steering and drive unit for the exomars rover
  • 2010 -2013: DEXHAND - Dextrous Robotic Hand
    • Mechanical design of the hand
    • System Engineer 
  • 2012 – 2014: MPE - Mobile Payload Element , Payload Study for the ESA Lunar Lander
    • Project leader for the DLR-RM developments of the MPE, locomotion subsystem and autonomous payload element
    • Design of the locomotion subsystem
    • Design of the drivetrain for the mobility system
  • 2013 – 2015: TeaM, Technology Development for autonomous Moon missions
    • Development of key technologies for autonomous Moon missions
    • Development of the Locomotion Subsystem for the LRU
  • 2013 – 2016: LRU – Lunar-Rover-Unit
    • Project leader
    • System Engineer
    • Mechanical Design of the Locomotion Sub System
  • 2013 – 2017: ROBEX - Robotic Exploration of Extreme Environments - Helmholtz-Alliance
    • Representative spokesperson of ROBEX
    • Topic responsible for the research topic 3000 – robotic developments
    • Development of a universal docking interface for robotics
    • Coordination of the robotic activity of the analog demo mission in 2017
  • 2015 – now: MOREX - “MOdulares Robotisches Explorationssystem”
    • Project leader
    • Development of intelligent, modular and agile mobility for planetary exploration
    • Definition of interfaces for science and robotic usage
    • Space qualification of components / Tests and Verification
  • 2018 - now: ARCHES - "Autonomous Robotic Networks to Help Modern Societies"
    • Project leader, Representative spokesperson of ARCHES
    • Autonomous exploration, monitoring and assessment of the marine environment
    • In-situ exploration of extra-terrestrial environments in our solar system

Patents:

Mr. Armin Wedler is the inventor, participator of twelve Patents, where six are pending, six are awarded and one is licensed. (Status Date: 10.05.2018)

Project Videos:

Space Bot Camp 2015:

SBC RM Explorers Team Video

SBC Competition Video

ROBEX Project 2017:

ROBEX Analoge Mission Video

ROBEX @ Heute Journal 24.07.2017

ARCHES Project 2018:

ARCHES @ International Astronautical Congress 2018

Publications:

[1] S.G. Brunner, P. Lehner, M.J. Schuster, S. Riedel, R. Belder, A. Wedler, et al.. Design, execution and post- mortem analysis of prolonged autonomous robot operations. In IEEE/RSJ International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018.

[2] H. Rauer, H. Michaelis, R. Jaumann, E. Kührt, J. Oberst, M. Grott, et al.. Space technology developments for planetary exploration at dlr – a selection of activities. In Planetary Exploration 2061, vol. Technologies and Infrastructures Workshop for Planetary Exploration, towards 2061, . EPFL, Lausanne, Switzerland, April 23-25 2018.

[3] M. Vayugundla, F. Steidle, M. Smisek, M.J. Schuster, K. Bussmann, and A. Wedler. Datasets of long range navigation experiments in a moon analogue environment on mount etna. In ISR - 50th International Symposium on Robotics, no. 50 in ISR, p. 77, . VDI/VDE, June 20-21 2018.

[4] A. Wedler, K. Bussmann, A. Dömel, M. Drauschke, H. Gmeiner, I.L. Grixa, et al.. From the robex experiment toward the robotic deployment and maintenance of scientific infrastructure for future planetary exploration missi- ons. In 42nd COSPAR Scientific Assembly, vol. 42, Pasadena, California, July 14 - 22 2018. COSPAR 2018 Secretariat.

[5] A. Wedler, L. Metcalfe, D. Alfano, K. Hambuchen, S. Vangen, B. Wilcox, et al.. Telerobotic operations with time delay, results from the isecg gap assesment team. In Prceedings of the 69th International Astronautical Congress (IAC), vol. 69, . International Astronautical Federation (IAF), 1-5 October 2018 2018.

[6] A. Wedler, M. Wilde, A. Dömel, M.G. Müller, J. Reill, M. Schuster, et al.. From single autonomous robots toward cooperative robotic interactions for future planetary exploration missions. In Prceedings of the 69th International Astronautical Congress (IAC), no. 69, . International Astronautical Federation (IAF), 1-5 October 2018 2018.

[7] C. Lange, L. Witte, R. Rosta, N. T´oth, G. Tsakyridis, S. Jahnke, et al.. First results from the robex demonstration mission on mt. etna: A modular system architecture to perform seismic experiments on a volcano as terrestrial validation of a lunar mission scenario. In 68th International Astronautical Congress (IAC), Adelaide, Australia, 25-29 September 2017. International Astronautical Federation (IAF).

[8] M.O.H.N.A.W.K.Y. Rui Qu, Yuto Takei. A study on the end-effector exchange mechanism of a space robot. Journal of Mechanics Engineering and Automation, 7(doi: 10.17265/2159-5275/2017.05.005):278–284, 2017.

[9] M.J. Schuster, S.G. Brunner, K. Bussmann, S. Büttner, A. Dömel, M. Hellerer, et al.. Towards Autonomous Planetary Exploration: The Lightweight Rover Unit (LRU), its Success in the SpaceBotCamp Challenge, and Beyond. Journal of Intelligent & Robotic Systems (JINT), Nov. 2017.

[10] A. Wedler, A.; Albu-Schaeffer. Perspektiven der raumfahrtrobotik ”mond-rover-experiment auf dem Ä tna”. In 48. Jahrestagung, Internationalen Förderkreis für Raumfahrt Hermann Oberth - Wernher von Braun (IFR) e.V.; ISS Die Zukunft der Raumfahrt. Und was kommt danach? Internationalen Förderkreis für Raumfahrt Hermann Oberth - Wernher von Braun (IFR) e.V., 2017. (invited talk).

[11] A. Wedler, M. Vayugundla, H. Lehner, P. Lehner, M. Schuster, S. Brunner, et al.. First results of the robex ana- logue mission campaign: Robotic deployment of seismic networks for future lunar missions. In 68th International Astronautical Congress (IAC), Adelaide, Australia, 25-29 September 2017. International Astronautical Federation (IAF).

[12] A. Wedler, M. Vayugundla, H. Lehner, P. Lehner, M. Schuster, S. Brunner, et al.. Robex demomission overview, live from the lunar analogue. In ASTRA: 14th Symposium on Advanced Space Technologies in Robotics and Automation, Scheltema, Leiden, the Netherlands, june 2017. ESA.

[13] L. Witte, A. Heffels, S. Jahnke, M. Knapmeyer, C. Lange, R. Rosta, et al.. A geophysical monitoring station for robotically deployed networks. In European Lunar Symposium 2017, Münster, Germany, May 2017.

[14] M.O.H.N.A.W.K.Y. Rui Qu, Yuto Takei. A study on the end-effector exchange mechanism of a space robot. In The 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Beijing, P.R.China, 2016.

[15] C. Schmidt, C. Fuchs, J. Ram´ırez, J. Pacheco, M. Brechtelsbauer, A. Shrestha, et al.. Inter-island demonstration of optical communication links in robotic operations. In International Conference on Space Optics, Oktober 2016.

[16] M.J. Schuster, C. Brand, S.G. Brunner, P. Lehner, J. Reill, S. Riedel, et al.. The lru rover for autonomous planetary exploration and its success in the spacebotcamp challenge. In IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2016. (Best Paper Award).

[17] S. Seriani, P. Gallina, and A. Wedler. A modular cable robot for inspection and light manipulation on celestial bodies. Acta Astronautica Journal, 123:145–153, June 2016.

[18] C. Lange, L. Witte, R. Rosta, G. Tsakyridis, F. Sohl, M. Knapmeyer, et al.. Modular infrastructures as research platforms for lunar exploration. In Proceeding of the 66th International Astronautical Congress, Jerusalem, Israel, 2015. International Astronautical Federation.

[19] D. Leidner, A. Wedler, and S. Music. Robotic deployment of extraterrestrial seismic networks. In Proc. of the 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2015.

[20] O. Porges, R. Lampariello, J. Artigas, A. Wedler, C. Borst, and M.A. Roa. Reachability and dexterity: Analysis and applications for space robotics. In Proc. of the 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), Mai 2015.

[21] R. Qu, Y. Takei, M. Oda, A. Wedler, and K. Yoshikawa. Study on development and practicality evaluation of space robot’s end-effector exchange mechanism. In Proceedings of the 59th Conference on Space Science and Technology, no. 59, Japan, 7 - 9 Oct. 2015.

[22] A. Wedler. International symposium on moon 2020-2030: a new era of coordinated human and robotic exploration. ESA Website (12/2015), Dec. 2015. Organisation Committees Member.

[23] A. Wedler, M. Hellerer, B. Rebele, H. Gmeiner, B. Vodermayer, T. Bellmann, et al.. Robex - components and methods for the planetary exploration demonstration. In Proc. of the 13th Symposium on Advanced Space Tech- nologies in Robotics and Automation (ASTRA), Mai 2015.

[24] A. Wedler, B. Rebele, J. Reill, M. Suppa, H. Hirschmüller, C. Brand, et al.. Lru - lightweight rover unit. In Proc. of the 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), May 2015.

[25] R. Haarmann, Q. Mühlbauer, L. Richter, S. Klinkner, C. Lee, C. Wagner, et al.. Mobile payload element (mpe): concept study of a small, outonomous and innovative sample fetching rover. In Proc. of the ASTRA -12th Sym- posium on Advanced Space Technologies in Robotics and Automation, 2013.

[26] A. Wedler, A. Maier, J. Reill, C. Brand, H. Hirschmüller, M. Schuster, et al.. Pan/tilt-unit as a perception module for extra-terrestrial vehicle and landing systems. In Proc. of the ASTRA -12th Symposium on Advanced Space Technologies in Robotics and Automation, no. 12th, The Netherlands, May 2013. ESA TEC-MMA.

[27] A. Wedler, M. Chalon, K. Landzettel, M. Görner, E. Kr¨amer, R. Gruber, et al.. Dlrs dynamic actuator modules for robotic space applications. In E.B.(.M. Space) and S.L. (NASA), eds., Proc. of the 41st Aerospace Mechanisms Symposium, no. 41 in Aerospace Mechanisms Symposium, Passadena - Hilton -JPL (USA), 2012.

[28] M. Chalon, A. Wedler, A. Baumann, W. Bertleff, A. Beyer, J. Butterfass, et al.. Dexhand: A space qualified multi-fingered robotic hand. In Proc. IEEE Int Robotics and Automation (ICRA) Conf, pp. 2204–2210, 2011.

[29] A. Wedler. Adaptive passiv nachgiebige Systeme zum Einsatz in der Robotik, vol. Institut für Fertigungstechnik und Werkzeugmaschinen (Hannover): Berichte aus dem IFW ; 2011, Bd. 02. Garbsen : PZH, Produktionstechnische Zentrum, TEWISS (Verlag), IFW, Leibniz-Universit¨at Hannover, Institut für Fertigungstechnik und Werkzeug- maschinen, 1 ed., 2011.

[30] A. Wedler. Simulation of new leg convepts for a passively compliant hexapod robot. SIMPACK News, pp. 6–9, Dezember 2011.

[31] A. Wedler, M. Chalon, A. Baumann, W. Bertleff, A. Beyer, J.B. Robert Burger, et al.. Dlrs space qualifiable multi-figered dexhand. In Proc.:11th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), vol. 11, pp. Session 3a, ESA/ESTEC, Noordwijk, the Netherlands, 12 – 14 April 2011. ESA, ESA.

[32] B. Rebele, A. Wedler, M. Apfelbeck, H. Hirschmüller, S. Kuss, A. Gibbesch, et. al. Advanced testbed and simulation environment for planetary exploration and mobility investigations. In ESA, i-SAIRAS, The 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Sapporo Convention Center, Sapporo, Japan, August 2010.

[33] M. Apfelbeck, S. Kuß, A. Wedler, A. Gibbesch, B. Rebele, and B. Sch¨afer. A novel terramechanics testbed setup for planetary rover wheel-soil interaction. In ISTVS, 11th European Regional Conference of the International Society for Terrain-Vehicle Systems, Oktober 2009.

[34] B. Denkena, J. Friederichs, and A. Wedler. kosepro - wirtschaftliche, adaptronische und sichere schlüsselkomponenten für die servicerobotik in der produktion. PZH Verlag, 2009.

[35] A. Wedler and G. Hirzinger. Mobilit¨at in der teilautonomen exploration und manipulation visionen für (teil-) autonome systeme auf ihrem weg ins all. In Lunar Base Symposium - Bauen für ein leben auf dem Mond, Fraunhofer-Zentrum, Kaiserslautern, Mai 2009.

[36] B. Denkena, J. Friederichs, A. Wedler, and O. Bertram. Safety mechatronics for industrial collision detection in human-machine interaction. In 53. Internationales Wissenschaftliches Kolloquium, pp. 51–52, September 2008.

[37] B. Denkena and A. Wedler. New compliant mc- kibben actuator driven by pneumatic actuators as a hexapod platform in robotic applications. In 10th Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), no. 10, 2008.

[38] B. Denkena, A. Wedler, J. Friederichs, A. Hackbarth, and F. Hackelöer. New compliant hexapod tool for industrial robotic applications driven by pneumatic mckibben actuators. In 11th International Conference on New Actuators - 5th International Exhibition on Smart Actuators and Drive Systems, pp. 153–156, Juni 2008.

[39] B. Denkena, A. Wedler, A. Hackbarth, F. Hackelöer, and J. Friederichs. Hexapoder roboter mit mckibben muskeln als ausgleichs- und d¨ampfungseinheit für den einsatz von robotern in der produktion. In Roboter Kongress 2008, 2008.

[40] B. Denkena, P. Wratil, J. Friederichs, and A. Wedler. Sichere antriebsfunktionen für roboter - safety inside. wt Werkstattstechnik, ISSN 1436-5006:745–751, 2008.

[41] B. Sch¨afer, B. Rebele, M. Schedl, M. Görner, A. Wedler, R. Krenn, et al.. Light-weight mechatronics and sensorics for robotic applications: A dlr perspective. In Proceedings of i-SAIRAS 2008 - 9th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Februar 2008.

[42] B. Denkena, B.A. Behrens, P. Hesse, J. Friederichs, A. Wedler, M. Ahrens, et al.. Mechatronische ausgleichs- und d¨ampfungseinheit für den einsatz von robotern in der produktion. In GMA-Kongress 2007: Automation im gesamten Lebenszyklus, Kongress Baden-Baden, 12. und 13. Juni, 2007.

[43] B. Denkena, P. Hesse, J. Friederichs, and A. Wedler. Adaptronische und sichere schlüsselkomponenten im anwen- dungsgebiet moderner automation. In GMA-Kongress 2007: Automation im gesamten Lebenszyklus, Kongress Baden-Baden, 12. und 13. Juni, VDI-Berichte 1980, pp. 865–873, 2007.

[44] B. Denkena, P. Hesse, J. Friederichs, and A. Wedler. Schlüsselkomponenten für roboter in der produktion ro- boterhaut und sicherheitskonzept für die mensch-roboter kooperation. pp. 158–162. Springer Berlin Heidelberg, Januar 2007.

[45] B. Denkena, P. Hesse, J. Friederichs, and A. Wedler. Roboterhaut und Sicherheitskonzept für die Mensch-Roboter Kooperation, vol. ISBN 978-3-540-74763-5 of Schlüsselkomponenten für Roboter in der Produktion, pp. 158–162. Springer Berlin Heidelberg, 2007.

[46] B. Denkena, A. Wedler, and J. Friederichs. A compliant actor driven by pneumatic actuators: Co-simulation using msc.adams and matlab/ simulink. In MSC - ADAMS Workshop for advanced Simulation EMEA, Oktober 2007.

[47] B. Denkena, B.A. Behrens, P. Hesse, J.O. Friederichs, A. Wedler, E. Cicek, et al.. Adaptronische und sichere schlüsselkomponenten für die servicerobotik in der produktion kosepro“. Technical report, BMBF Statustagung, Förderungsinitative: Leitinovation Robotik, KoSePro Statusbericht, 2006.

[48] A. Wedler and F. Oszwald. Development of a bioinspired insect leg. Diplom thesis - esa documet number: D7 - 317, ESA, European Space Agency - Mechatronik Zentrum Hannover, University of Hannover, 2004.

[49] A. Wedler and F. Oszwald. Development of a bioinspired insect leg. In Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation - ASTRA 2004, 2004.

 

 

Zuletzt aktualisiert: Mittwoch, 19. Dezember 2018 von Dr. -Ing. Armin Wedler