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Mitarbeiter

Bernd Henze

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 28-1081
E-Mail: Bernd Henze

 

Awards and Honors

  • Winner of the Best Video Award at IEEE-RAS Int. Conf. on Humanoid Robots 2014 [ IEEEXplore, Youtube]
  • Winner of the Best WBC-Video Award 2016 (IEEE-RAS Technical Committee on Whole-Body Control) [ IEEEXplore, SAGE, YouTube]
  • Finalist of the Best Paper Award on Safety, Security, and Rescue Robotics (in memory of Motohiro Kisoi) at IROS 2017 [ IEEEXplore ]
  • Finalist of the Best Paper Award on Safety, Security, and Rescue Robotics (in memory of Motohiro Kisoi) at IROS 2018

Publications

Book Chapters

[B2] Máximo A. Roa, Bernd Henze, and Christian Ott: "Wearable Robotics: Challenges and Trends", chapter "Model-Based Posture Control for a Torque-Controlled Humanoid Robot", pages 344 - 347. Springer International Publishing, Switzerland, 2018.

[B1] Christian Ott, Máximo 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: "Humanoid Robotics: A Reference", chapter "Mechanisms and Design of DLR Humanoid Robots", pages 1 – 26. Springer Netherlands, Dordrecht, 2017.

 

Journal Papers

[J7] A. Kheddar, S. Caron, P. Gergondet, A. Comport, A. Tanguy, C. Ott, B. Henze, G. Mesesan,
J. Englsberger, M. A. Roa, P.-B. Wieber, F. Chaumette, F. Spindler, G. Oriolo, L. Lanari, A. Escande, K. Chappellet, F. Kanehiro, and P. Rabaté: "Humanoid robots in aircraft manufacturing - the Airbus use-cases", a
ccepted for IEEE Robotics and Automation Magazine (RAM), 2019.

[J6] Firas Abi-Farraj, Bernd Henze, Christian Ott, Paolo Robuffo Giordano, Máximo A. Roa: "Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks", IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 2023– 2030, 2019. [ IEEEXplore ]

[J5] Bernd Henze, Ribin Balachandran, Máximo A. Roa, Christian Ott, Alin Albu-Schäffer: “Passivity Analysis and Control of Humanoid Robots on Movable Ground", IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 4, pp. 3457 – 3464, 2018. [ IEEEXplore ]

[J4] Bernd Henze, Alexander Dietrich, 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, 2016. [ IEEEXplore ] Winner of the Best WBC-Video Award

[J3] Bernd Henze, Máximo A. Roa, Christian Ott: "Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios”, The Int. J. of Robotic Research (IJRR), vol. 35, no. 2, pp. 1522 – 1543, 2016. [ SAGE, YouTube ] Winner of the Best WBC-Video Award

[J2] Christian Ott, Bernd Henze, Georg Hettich, Tim N. Seyde, Máximo A. Roa, Vittorio Lippi, Thomas Mergner: “Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots”, IEEE Robotics and Automation Magazine (RAM) , vol. 23, no. 1, pp. 22 – 33, 2016.

[J1] Christian Ott, Alexander Dietrich, Daniel Leidner, Alexander Werner, Johannes Englsberger, Bernd Henze, Sebastian Wolf, Maxime Chalon, Werner Friedl, Alexander Beyer, Oliver Eiberger, Alin Albu-Schäffer: "From torque-controlled to intrinsically compliant humanoid robots”, ASME Mechanical Engineering Magazine, vol. 6, no. 137, pp. 7 – 11, 2015.

 

Conference Papers

[C21] Nicola Olivieri, Bernd Henze, Francesco Braghin, Máximo A. Roa: "Experimental Evaluation and Modeling of Passive Falls in Humanoid Robots", accepted for IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2019.

[C20] Luca Rossini, Bernd Henze, Francesco Braghin, Máximo A. Roa: "Optimal Trajectory for Active Safe Falls in Humanoid Robots", accepted for IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2019.

[C19] Juan M. García-Haro, Bernd Henze, George Mesesan, Santiago Martínez, Christian Ott: "Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots", accepted for IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2019.

[C18] Bernd Henze, Maximo A. Roa, Alexander Werner, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer: “Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees", IEEE Int. Conf. on Robotics and Automation (ICRA): pp. 2510 - 2516, 2019.

[C17] Oliver Porges, Mathilde Connan, Bernd Henze, Andrea Gigli, Claudio Castellini, and Maximo A. Roa: “A wearable, Ultralight Interface for Bimanual Teleoperation of a Compliant, Whole-body-controlled Humanoid Robot", IEEE Int. Conf. on Robotics and Automation (ICRA): Contributed Video, 2019.

[C16] Dominic Lakatos, Yuri Federigi, Thomas Gumpert, Bernd Henze, Milan Hermann, Florian Loeffl, Florian Schmidt, Daniel Seidel, Alin Albu-Schäffer: “A Coordinate-Based Approach for Static Balancing and Walking Control of Compliantly Actuated Legged Robots", IEEE Int. Conf. on Robotics and Automation (ICRA): pp. 5909 - 9515, 2019.

[C15] Firas Abi-Farraj, Bernd Henze, Christian Ott, Paolo Robuffo Giordano, Máximo A. Roa: "Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks", IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 2023– 2030, 2019, presented at the IEEE Int. Conf. on Robotics and Automation (ICRA), 2019. [ IEEEXplore ]

[C14] Ashok M. Sundaram, Bernd Henze, Oliver Porges, Zoltan-Csaba Marton, Máximo A. Roa: “Autonomous Bipedal Humanoid Grasping with Base Repositioning and Whole-Body Control", IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pp. 395 - 402, 2018.

[C13] Bernd Henze, Ribin Balachandran, Máximo A. Roa, Christian Ott, Alin Albu-Schäffer: “Passivity Analysis and Control of Humanoid Robots on Movable Ground", IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 4, pp. 3457 - 3464, presented at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2018. [ IEEEXplore ]

[C12] Firas Abi-Farraj, Bernd Henze, Alexander Werner, Michael Panzirsch, Christian Ott, and Máximo A. Roa: “Humanoid Teleoperation Using Task-Relevant Haptic Feedback”, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 5010 - 5017, 2018. Finalist of the Best Paper Award on Safety, Security, and Rescue Robotics

[C11] Alexander Werner, Bernd Henze, Manuel Keppler, Florian Loeffl, Sigrid Leyendecker, Christian Ott: “Structure Preserving Multi-Contact Balance Control for Series-Elastic and Visco-Elastic Humanoid Robots”, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1233 - 1240, 2018.

[C10] Alexander Werner, Bernd Henze, Florian Loeffl, Sigrid Leyendecker, and Christian Ott: “Optimal and Robust Walking Using Intrinsic Properties of a Series-Elastic Robot", IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pp. 143 - 150, 2017. [ IEEEXplore ]

[C9] Bernd Henze, Alexander Dietrich, Máximo A. Roa, and Christian Ott: “Multi-Contact Balancing of Humanoid Robots in Confined Spaces: Utilizing Knee Contacts”, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 679 - 704, 2017. [ IEEEXplore ] Finalist of the Best Paper Award on Safety, Security, and Rescue Robotics

[C8] George Mesesan, Johannes Englsberger, Bernd Henze, and Christian Ott: “Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion”, IEEE Int. Conf. on Robotics and Automation (ICRA): pp. 4108 - 4115, 2017.

[C7] Alexander Werner, Bernd Henze, Diego A. Rodriguez and Jonathan Gabaret, Oliver Porges, Máximo A. Roa: “Multi-Contact Planning and Control for a Torque-Controlled Humanoid Robot”, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 5708 – 5715, 2016.

[C6] 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, presented at the IEEE Int. Conf. on Robotics and Automation (ICRA), 2016. [ IEEEXplore ] Winner of the Best WBC-Video Award

[C5] Gianluca Garofalo, Bernd Henze, Johannes Englsberger, Christian Ott: "On the inertially decoupled structure of the floating base robot dynamics”, Vienna Int. Conf. on Mathematical Modelling (MATHMOD), pp. 322 - 327, 2015.

[C4] Johannes Englsberger, Alexander Werner, Christian Ott, Bernd Henze, Máximo A. Roa, Gianluca Garofalo, Robert Burger, Alexander Beyer, Oliver Eiberger, Korbinian Schmid, Alin Albu-Schäffer: "Overview of the torque-controlled humanoid robot TORO”, IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pp. 916 - 923, 2014.

[C3] Bernd Henze, Alexander Werner, Máximo A. Roa, Gianluca Garofalo, Johannes Englsberger, Christian Ott: "Control Applications of TORO - A Torque Controlled Humanoid Robot”, IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pp. 841 - 841, 2014. [ IEEEXplore, YouTube ] Winner of the Best Video Award

[C2] Bernd Henze, Christian Ott, Máximo A. Roa: "Posture and balance control for humanoid robots in multi-contact scenarios based on Model Predictive Control”, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 3253 - 3258, 2014.

[C1] Christian Ott, Bernd Henze, Dongheui. Lee: "Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing”, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 4615 - 4621, 2013.

 

Invited Talks

[T2] Bernd Henze, Alin Albu-Schäffer: "Hierarchical Whole-Body Control for Humanoid Robots" presented at Workshop on Continuous Management and Scheduling of Multiple Simultaneous Prioritized Tasks for Redundant Robots, IEEE Int. Conf. on Robotics and Automation (ICRA), 2019.

[T1] Bernd Henze: "Model-Based Posture Control for a Torque-Controlled Humanoid Robot", presented at the special session on Biorobotics approaches to understand and restore human balance, The Int. Symposium on Wearable Robotics (WeRob), 2018.

 

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: Dienstag, 27. August 2019 von Bernd Henze