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Ribin Balachandran

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 28-3459
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Curriculum Vitae:

Ribin Balachandran erhielt sein Bachelorzeugnis in Elektrotechnik im 2009 von der National Institute of Technology, Surathkal-Indien und hat sein Masterstudium in Automation und Robotics im 2012 von der Technischen Universtität Dortmund gemacht. Seit 2013 arbeitet er in der Abteilung für Analyse und Regelung komplexer Robotersysteme des DLR Robotik und Mechatronik Zentrums als wissenschaftlicher Angestellter. Seine Doktorarbeit widmet sich dem Forschungsgebiet der Teleoperation von fliegende Robotikmanipulatoren. Sein Hauptforschungsinteresse gilt der Teleoperation von statischen und mobilen Robotern, der haptischen Interaktion im Generellen und Robotsteurung.

Research Topics:

  • Haptics and Bilateral Teleoperation
  • Time Delayed Systems
  • Robot Control and Stability
  • Shared Autonomy

Main Projects:

  • ARCAS (European Union Project)
  • Aeroarms (European Union Project)
  • Kontur-2 (Teleoperation from the International Space Station)
  • OOS-Sim (Teleoperation for On-Orbit Servicing of satellites)
  • Care-O-bot (Telenavigation and manipulation of service robots for elderly care)
  • SpaceFactory (Robotic assembly of satellites in space orbits)

Patent: Kontroll-Netzwerk mit einem haptischen Eingabemittel (DE102014004115 B3)

Publications:

2019:

  • Michael Panzirsch and Ribin Balachandran, Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation, IFAC Workshop on Time Delay Systems, 9.-11. September, Sinaia
  • Marco De Stefano, Ribin Balachandran and Cristian Secchi, A Passivity-based Approach for Simulating Satellite Dynamics with Robots: Time Delay and Discretization Effects, accepted to IEEE Transactions on Robotics (T-RO), Sept. 2019
  •  Marco De Stefano, Hrishik Mishra, Ribin Balachandran, Roberto Lampariello, Christian Ott, and Cristian Secchi. Multi-rate Tracking Control for a Space Robot on a Controlled Satellite: a Passivity-based Strategy, IEEE Robotics and Automation Letters (RA-L), pp. 1319-1326, 10.1109/LRA.2019.2895420, 2019
  •  Bernhard Weber, Ribin Balachandran, Cornelia Riecke, Freek Stulp and Martin Stelzer, Teleoperating Robots from the International Space Station: Microgravity Effects on Performance with Force Feedback. International Conference on Intelligent Robots and Systems (IROS) 2019, Macau, China.

2018:

  • Thiago Weber Martins, Aaron Pereira, Thomas Hulin, Oliver Ruf, Stefan Kugler, Alessandro M.
    Giordano, Ribin Balachandran, Fabian Benedikt, John Lewis, Reiner Anderl, Klaus Schilling, Alin
    Albu-Schäffer, Space Factory 4.0 - New processes for the robotic assembly of modular satellites on an in-orbit platform based on „Industrie 4.0” approach, 69th International Astronautical Congress (IAC), Bremen, Germany, 1-5 October 2018.
  • Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott, Passive Compliance Control of Aerial Manipulators, Accepted to IEEE/RSJ International Conference on Intelligent Robot and System (IROS), Madrid, Spain, 2018
  • Bernd Henze, Ribin Balachandran, Maximo A. Roa, Christian Ott, Alin Albu-Schäffer, Passivity Analysis and Control of Humanoid Robots on Movable Ground, Accepted to IEEE/RSJ International Conference on Intelligent Robot and System (IROS), Madrid, Spain, 2018 and IEEE RA-L
  • Andre Coelho, Harsimran Singh, Tin Muskardin, Ribin Balachandran, Konstantin Kondak, Smoother Position-Drift Compensation for Time Domain Passivity Approach based Teleoperation, Accepted to IEEE/RSJ International Conference on Intelligent Robot and System (IROS), Madrid, Spain, 2018
  • Anibal Ollero, Guillermo Heredia, Antonio Franchi, Gianluca Antonelli, Konstantin Kondak, Alberto Sanfeliu, Antidio Viguria, Jose Ramiro Martinez-de-Dios, Francesco Pierri, Juan Cortes, Angel Santamaria-Navarro, Miguel Angel Trujillo Soto, Ribin Balachandran, Juan Andrade-Cetto, Angel Rodriguez Castaño, Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance: the AEROARMS Project, Accepted to IEEE Robotics and Automation Magazine
  • Ribin Balachandran, Natalia Kozlova, Christian Ott Alin Albu-Schaeffer, Non-linear Local Force Feedback for haptic Interfaces, IFAC Symposium on Robot Control SYROCO, Budapest, August 2018
  • Michael Panzirsch, Ribin Balachandran, Bernhard Weber, Manuel Ferre, Jordi Artigas, Haptic Augmentation for Teleoperation through Virtual Grasping Points, IEEE Transactions on Haptics, 2018
  • Marco De Stefano, Ribin Balachandran, Alessandro Giordano, Cristian Secchi, An energy-based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base, IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia pp. -, May 2018.

2017:

  • Mikael Jorda, Ribin Balachandran, Jee-Hwan Ryu and Oussama Khatib, New Passivity Observers for Improved Robot Force Control , IEEE/RSJ International Conference on Intelligent Robot and System (IROS), Vancouver, Canada, 2017
  • Ribin Balachandran, Mikael Jorda, Jordi Artigas, Jee-Hwan Ryu and Oussama Khatib, Passivity Based Stability in Explicit Force Control of Robots, International Conference on Robotics and Automation, 29.May-3.June 2017, Singapore, Singapore.
  • Michael Panzirsch, Ribin Balachandran,Jordi Artigas,Cornelia Riecke, Manuel Ferre and Alin Albu-Schäffer, Haptic Intention Augmentation for Cooperative Teleoperation, International Conference on Robotics and Automation, 29.May-3.June 2017, Singapore, Singapore.
  • Marco De Stefano, Ribin Balachandran, Jordi Artigas, Cristian Secchi   Reproducing Physical Dynamics with Hardware-in-the-loop Simulators: A Passive and Explicit Discrete Integrator, International Conference on Robotics and Automation, 29.May-3.June 2017, Singapore, Singapore.

2016:

  • Ribin Balachandran, Jordi Artigas, Usman Mehmood, Jee-Hwan Ryu, Performance comparison of Wave Variable Transformation and Time Domain Passivity Approaches for time-delayed teleoperation: Preliminary results, in Proc.of the 2016 IEEE/RSJ International Conference on Intelligent Robot and System (IROS), Daejeon, Korea, pp.5419-5426, October 2016.
  • Jordi Artigas, Ribin Balachandran, Cornelia Riecke, Martin Stelzer, Bernhard Weber, Jee-Hwan Ryu, Alin Albu-Schaeffer, KONTUR-2: force-feedback teleoperation from the international space station, International Conference on Robotics and Automation, 2016, Sweden.
  • Cornelia Riecke, Jordi Artigas, Ribin Balachandran, Ralph Bayer, Alexander Beyer, Bernhard Brunner, Johann Buchner, Thomas Gumpert, Robin Gruber, Franz Hacker, Klaus Landzettel, Georg Plank, Simon Schätzle, Hans-Jürgen Sedlmayr, Nikolaus Seitz, BM Steinmetz, Martin Stelzer, Jörg Vogel, Bernhard Weber, Bertram Willberg, Alin Olimpiu Albu-Schäffer, Kontur-2 mission: the DLR force feedback joystick for space telemanipulation from the ISS, iSAIRAS International Symposium on Artificial Intelligence, Robotics and Automation in Space 2016, Beijing, China.
  • Jordi Artigas, Ribin Balachandran, Marco De Stefano, Michael Panzirsch, Jan Harder, Juergen Letschnik, Roberto Lampariello, Alin Albu-Schaeffer, Teleoperation for On-Orbit Servicing Missions through the ASTRA Geostationary Satellite, in Proc. of the 2016 IEEE Aerospace Conference, Big Sky, Montana, USA, pp. 1-12, March 2016.
  • Bernhard Weber, Simon Schätzle, Cornelia Riecke, Bernhard Brunner, Sergey Tarassenko, Jordi Artigas, Ribin Balachandran, Alin Albu-Schäffer, Weight and weightlessness effects on sensorimotor performance during manual tracking, International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, 2016
  • Jordi Artigas, Cornelia Riecke, Bernhard Weber, Martin Stelzer, Ribin Balachandran, Simon Schaetzle, Ralph Bayer, Michael Steinmetz, Joerg Voegl, Bernhard Brunner, Alin Albu-Schaeffer, Mikael Guk, V Zaborovskyi, A Kondratiev, V Muliukha, Alexander Silinenko, O Shmakov, Force-feedback teleoperation of on- ground robots from the international space station in the frame of the KONTUR-2 experiment, Extreme Robotics Conference 2016, St. Petersburg, Russia.
  • Phillip Schmidt, Ribin Balachandran, Jordi Artigas. Shared control for robotic on-orbit servicing, RSS Workshop 2016, Michigan, USA

2015:

  • Michael Panzirsch, Ribin Balachandran, Jordi Artigas, Cartesian Task Allocation for Cooperative, Multilateral Teleoperation under Time Delay, IEEE International Conference on Robotics and Automation. ICRA 2015, 26.-30. May 2015, Seattle, USA.
  • Phillip Schmidt, Jordi Artigas, Marco De Stefano, Ribin Balachandran, Christian Ott.
    Increasing the Performance of Torque-based Visual Servoing by applying Time Domain Passivity, in Proc. of the 11th IFAC Symposium on Robot Control SYROCO 2015, Salvador, Brazil, vol.48 pp. 13-18, August 2015.

 

 

Zuletzt aktualisiert: Mittwoch, 13. November 2019 von Ribin Balachandran