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Staff

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Dr.-Ing. Alexander Dietrich

DLR German Aerospace Center
Institute of Robotics and Mechatronics

+++ For information on the lecture "Regelung moderner Leichtbauroboter", see here +++

 

Short Biography (3/2024)

Alexander Dietrich received the Dr.-Ing. degree from the Technical University of Munich (TUM) in 2015. In 2010, he joined the German Aerospace Center (DLR), Institute of Robotics and Mechatronics, as a research scientist. Among others, he received the Georges Giralt PhD Award 2016 for the best European thesis in robotics, the DLR Science Award in 2020, and the Distinguished Service Award for Outstanding Associate Editors of the IEEE Robotics and Automation Letters in 2020. He published more than 60 peer-reviewed papers in international journals, books and on conferences, and he is holding 15 patents. He is IEEE Senior Member, Editor of the IEEE ICRA (2020-2022), Associate Editor for IEEE T-RO (since 2021), IEEE RA-M (2018-2020), IEEE RA-L (2017-2021), and he was co-chair of the IEEE RAS Technical Committee on Whole-Body Control (2018-2021).
Since 2017 he is head of the whole-body control group at the Institute of Robotics and Mechatronics of the DLR, and since 2019 he is lecturer at TUM on the control of modern lightweight robots. His current research interests include whole-body mobile manipulation, impedance and force control, hierarchical control for kinematically redundant robots, safe physical human–robot interaction, and the stability analysis of the corresponding control approaches.

 

Awards and Honors

 

Responsibilities and Functions

...in the international robotics community 

  • Editor of IEEE International Conference on Robotics and Automation ICRA (2020-2022)
  • Associate Editor of IEEE Transactions on Robotics T-RO (since 2021)
  • Associate Editor of IEEE Robotics and Automation Letters RA-L (2017-2021)
  • Associate Editor of IEEE Robotics and Automation Magazine RA-M (2018-2020)
  • Associate Editor of IEEE International Conference on Robotics and Automation ICRA (2016-2018)
  • Co-Chair of IEEE RAS Technical Committee on Whole-Body Control (2018-2021)
  • Member of the Program Committee of RSS (2016)

... in academia/university

  • Lecturer at the Technical University of Munich (TUM)

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

  • Head of the whole-body control group
  • Project co-leader of the SMiLE2gether project (~ 4,700,000€ funding)
  • Project leader of the SMiLE project (1,500,000€ funding)
  • Institute co-responsible for the research plan Robot Dynamics & Simulation
  • Institute responsible for the core process Science

 

Publications

Journal papers

[J28] Alexander Dietrich, Xuwei Wu, Kristin Bussmann, Marie Harder, Maged Iskandar, Johannes Englsberger, Christian Ott, and Alin Albu-Schäffer, "Practical Consequences of Inertia Shaping for Interaction and Tracking in Robot Control", IFAC Control Engineering Practice (CONENGPRAC), vol. 114, 104875, September 2021. [ PDF@ScienceDirect ]

[J27] Alexander Dietrich and Christian Ott, "Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots", IEEE Transactions on Robotics (T-RO), vol. 36, no. 1, pp. 204-221, February 2020. [ PDF@IEEEXplore ]

[J26] 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 ]

[J25] 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 ]

[J24] 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 ]

[J23] 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 ]

[J22] 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. [ Draft , PDF@SAGE journals ]

[J21] 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 ]

[J20] 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 ]

[J19] Michael Panzirsch, Harsimran Singh, Marek Sierotowicz, and Alexander Dietrich, "Extension of the Deflection-Domain Passivity Approach for Variable Stiffnesses to SO(3)", IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 3, pp. 2925-2932, March 2024. [ PDF@IEEEXplore ]

[J18] Maged Iskandar, Christian Ott, Alin Albu-Schäffer, Bruno Siciliano, and Alexander Dietrich, "Hybrid Force-Impedance Control for Fast End-Effector Motions", IEEE Robotics and Automation Letters (RA-L), vol. 8, no. 7, pp. 3931-3938, July 2023. [ PDF@IEEEXplore ]

[J17] Maged Iskandar, Christian van Ommeren, Xuwei Wu, Alin Albu-Schäffer, and Alexander Dietrich, "Model Predictive Control Applied to Different Time-scale Dynamics of Flexible Joint Robots", IEEE Robotics and Automation Letters (RA-L), vol. 8, no. 2, pp. 673-679, February 2023. [ PDF@IEEEXplore ]

[J16] Xuwei Wu, Christian Ott, Alin Albu-Schäffer, and Alexander Dietrich, "Passive Decoupled Multitask Controller for Redundant Robots", IEEE Transactions on Control Systems Technology (TCST), vol. 31, no. 1, pp. 1-16, January 2023. [ PDF@IEEEXplore ]

[J15] Xuwei Wu, Annika Kirner, Gianluca Garofalo, Christian Ott, Paul Kotyczka, and Alexander Dietrich, "Adaptive Tracking Control with Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators", IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 4, pp. 12307-12314, October 2022. [ PDF@IEEEXplore ]

[J14] Marie Harder, Manuel Keppler, Xuming Meng, Christian Ott, Hannes Höppner, and Alexander Dietrich, "Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators", IEEE Robotics and Automation Letters (RA-L), Special Issue: Variable Impedance Control and Learning In Complex Interaction Scenarios: Challenges and Opportunities, vol. 7, no. 3, pp. 6614-6621, July 2022. [ PDF@IEEEXplore ]

[J13] Jens Reinecke, Alexander Dietrich, Anton Shu, Bastian Deutschmann, and Marco Hutter, "A Robotic Torso Joint with Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement", IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 1, pp. 9-16, January 2022. [ PDF@IEEEXplore ]

[J12] Thomas Hulin, Michael Panzirsch, Harsimran Singh, Ribin Balachandran, Andre Coelho, Aaron Pereira, Bernhard Weber, Nicolai Bechtel, Cornelia Riecke, Bernhard Brunner, Neal Lii, Julian Klodmann, Anja Hellings, Katharina Hagmann, Gabriel Quere, Adrian Bauer, Marek Sierotowicz, Roberto Lampariello, Jörn Vogel, Alexander Dietrich, Daniel Leidner, Christian Ott, Gerd Hirzinger, and Alin Albu-Schäffer, "Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use-Cases", Frontiers in Robotics and AI, vol. 8, June 2021. [ PDF@Frontiers ]

[J11] Jörn Vogel, Daniel Leidner, Annette Hagengruber, Michael Panzirsch, Berthold Bäuml, Maximilian Denninger, Ulrich Hillenbrand, Lioba Suchenwirth, Peter Schmaus, Marco Sewtz, Adrian Bauer, Thomas Hulin, Maged Iskandar, Gabriel Quere, Alin Albu-Schäffer, and Alexander Dietrich, "An Ecosystem for Heterogeneous Robotic Assistants in Caregiving: Core Functionalities and Use Cases", IEEE Robotics and Automation Magazine (RAM), vol. 28, no. 3, pp. 12-28, September 2021. [ PDF@IEEEXplore ]

[J10] Andre Coelho, Yuri Sarkisov, Xuwei Wu, Hrishik Mishra, Harsimran Singh, Alexander Dietrich, Antonio Franchi, Konstantin Kondak, and Christian Ott, "Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation", Journal of Intelligent & Robotic Systems (JINT), vol. 102, no. 14, invited paper in a special issue, April 2021. [ PDF@SpringerLink ]

[J9] Alessandro Giordano, Alexander Dietrich, Christian Ott, and Alin Albu-Schäffer, "Coordination of thrusters, reaction wheels, and arm in orbital robots", Robotics and Autonomous Systems, vol. 131, September 2020. [ PDF@ScienceDirect ]

[J8] Jens Reinecke, Bastian Deutschmann, Alexander Dietrich, and Marco Hutter, "An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion with Weight Compensation", IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 3, pp. 3876-3883, July 2020. [ PDF@IEEEXplore ]

[J7] 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 ]

[J6] 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 ]

[J5] 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 ]

[J4] 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 ]

[J3] 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. 

[J2] 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 ]

[J1] 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 ]

 

Books and book chapters

[B3] Alexander Dietrich and Neville Hogan, “Control of Physical Interaction”, In: Ang M.H., Khatib O., Siciliano B. (eds.) Encyclopedia of Robotics, Springer, Berlin, Heidelberg, https://doi.org/10.1007/978-3-642-41610-1_92-1, 2022. [ Springer ]

[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 and presentations

[C32] Xuwei Wu, Alin Albu-Schäffer, and Alexander Dietrich, "Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions", accepted for publication in Proc. of the 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 2024.

[C31] Michael Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Jörn Vogel, Alexander Dietrich, Seongjien Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard Steinbach, Alin Albu-Schäffer, Sami Haddadin, and Wolfram Burgard, "Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments", in Proc. of the 25th IEEE International Symposium on Multimedia (ISM), Laguna Hills, California, USA, December 2023.

[C30] Marie Harder, Maged Iskandar, Jinoh Lee, and Alexander Dietrich, "Extensions to Dynamically-Consistent Collision Reaction Control for Collaborative Robots", in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, pp. 5982-5988, October 2023. [ PDF@IEEEXplore ]

[C29] Xuwei Wu, Christian Ott, and Alexander Dietrich, "A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot", in Proc. of the 2022 American Control Conference (ACC), Atlanta, USA, pp. 1933-1940, June 2022. [ PDF@IEEEXplore ]

[C28] Bastian Deutschmann, Jens Reinecke, and Alexander Dietrich, "Open Source Tendon-driven Continuum Mechanism: A Platform for Research in Soft Robotics", in Proc. of the 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), Edinburgh, Scotland, pp. 54-61, April 2022. [ PDF@IEEEXplore ]

[C27] Maged Iskandar, Oliver Eiberger, Alin Albu-Schäffer, Alessandro De Luca, and Alexander Dietrich, "Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy", in Proc. of the 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi' an, China, pp. 3111-3117, May/June 2021. [ PDF@IEEEXplore ]

[C26] Tobias Thoma, Xuwei Wu, Alexander Dietrich, and Paul Kotyczka, "Symplectic Discrete-Time Control of Flexible-Joint Robots: Experiments with Two Links", in Proc. of the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (IFAC LHMNC), vol. 54, no. 19, pp. 1-7, Berlin, Germany, October 2021, invited paper. [ PDF@IFAC-PapersOnLine ]

[C25] Maged Iskandar, Christian Ott, Oliver Eiberger, Manuel Keppler, Alin Albu-Schäffer, and Alexander Dietrich, "Joint-Level Control of the DLR Lightweight Robot SARA", in Proc. of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, pp. 8903-8910, October 2020. [ PDF@IEEEXplore ]

[C24] Jörn Vogel, Annette Hagengruber, Maged Iskandar, Gabriel Quere, Ulrike Leipscher, Samuel Bustamante, Alexander Dietrich, Hannes Höppner, Daniel Leidner, and Alin Albu-Schäffer, "EDAN - An EMG-controlled Daily Assistant To Help People With Physical Disabilities", in Proc. of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, pp. 4183-4190, October 2020. [ PDF@IEEEXplore ]

[C23] Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, and Alin Albu-Schäffer, "MPTC - Modular Passive Tracking Controller for stack of task based control frameworks", in Proc. of Robotics: Science and Systems XVI (R:SS), doi: 10.15607/RSS.2020.XVI.077, Corvalis, USA, July 2020. [ PDF@RSS ]

[C22] Maged Iskandar, Gabriel Quere, Annette Hagengruber, Alexander Dietrich, and Jörn Vogel, "Employing Whole-Body Control in Assistive Robotics", in Proc. of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, pp. 5643-5650, November 2019. [ PDF@IEEEXplore ]

[C21] Bernd Henze, Maximo A. Roa, Alexander Werner, Alexander Dietrich, Christian Ott, and Alin Albu-Schäffer, "Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees", in Proc. of the 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, pp. 2510-2516, May 2019. [ PDF@IEEEXplore ]

[C20] 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", in Proc. of the 12th IFAC Symposium on Robot Control (SYROCO), Budapest, Hungary, pp. 386-392, August 2018. [ PDF@ScienceDirect ]

[C19] 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 ]

[C18] 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 ]

[C17] 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 ]

[C16] 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 ]

[C15] 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 ]

[C14] 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 ]

[C13] 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 ]

[C12] 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 ]

[C11] 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 ]

[C10] 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 ]

[C9] 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 ]

[C8] 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 ]

[C7] 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 ]

[C6] 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 ]

[C5] 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 ]

[C4] 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 ]

[C3] 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 ]

[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

[P21*] Maged Iskandar, Alexander Dietrich, and Christian Ott, "Verfahren zum Steuern einer Robotereinrichtung", German patent application no. 10 2023 109 766.0, filed on April 18, 2023 (under review).

[P20*] Alexander Dietrich, Lioba Suchenwirth, and Jörn Vogel, "Kontaktlose Identifizierung und Authentifizierung einer Person", German patent application no. 10 2022 106 241.4, filed on March 17, 2022 (under review).

[P19*] Philipp Stratmann and Alexander Dietrich, Information undisclosed, filed in February 2018 at DPMA (under review).

[P18*] 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).

[P17*] Alexander Dietrich and Jens Reinecke, Information undisclosed, filed in January 2017 at DPMA (under review).

[P16] Maged Iskandar, Alexander Dietrich, and Alin Albu-Schäffer, "Verfahren zum Bestimmen externer Interaktionskräfte und/oder Interaktionsmomente eines Roboters, Roboter und Computerprogrammprodukt", German patent application no. 102021113636, patented on May 26, 2021, European patent application no. 22 175 265.2, filed on May 24, 2022 (under review).

[P15] Maged Iskandar and Alexander Dietrich, "Verfahren zum Betreiben eines Roboterarms", German patent application no. 102021106251, patented on March 16, 2021, and European patent application no. 21 212 707.0, filed on December 7, 2021. (under review).

[P14] Maged Iskandar, Alexander Dietrich, and Oliver Eiberger, "Verfahren zur Funktionsoptimierung eines Roboterarms", German patent application no. 10 2020 134 260.8, patented on December 18, 2020, and European patent application number 21 202 126.5, filed on October 12, 2021 (under review).

[P13] Maged Iskandar, Alexander Dietrich, and Christian Ott, "Regelungsverfahren zum Regeln des Drehmoments (...)", German patent application no. 102020127532, patented on October 20, 2020.

[P12] Lioba Suchenwirth, Jörn Vogel, and Alexander Dietrich, "Robotersystem", German patent application no. 102020125344, patented on September 30, 2020.

[P11] Alexander Dietrich and Christian Ott, "Verfahren zur impedanzbasierten Multi-Tasking Tracking-Regelung, impedanzbasierter Multi-Tasking Tracking-Regler und kraft- und/oder drehmomentgeregelter Roboter", German patent application no. 10 2020 120 116, patented on July 30, 2020.

[P10] Maged Iskandar, Jörn Vogel, Gabriel Quere, Annette Hagengruber, and Alexander Dietrich, "Assistenzroboter", German patent application no. 202020102438, registered on April 30, 2020. (utility patent)

[P9] Daniel Leidner and Alexander Dietrich, "Verfahren zum Erzeugen eines Eingabebefehls für einen Roboterarm und Roboterarm", German patent application no. 102020102160, patented on January 30, 2020.

[P8] Jens Reinecke, Alexander Dietrich, and Anton Shu, "Aktuatorvorrichtung, Robotergelenkvorrichtung und Roboter", German patent application no. 102019120344, patented on July 27, 2019.

[P7] Alexander Dietrich, Hannes Höppner, and Martin Görner, "Vorrichtung zur Schwingungsabsorption für eine Waschmaschine, Waschmaschine und Verfahren zum Betreiben einer Waschmaschine", German patent application no. 102018109903, patented on April 25, 2018.

[P6] Bastian Deutschmann, Alexander Dietrich, Tong Liu, and Christian Ott, "Verfahren und Vorrichtung zur Charakterisierung eines Kontinuumgelenks", German patent application no. 102017215432, patented on September 5, 2017.

[P5] Bastian Deutschmann, Alexander Dietrich, Jens Reinecke, and Florian Steidle, "Kontinuumsgelenk", German patent application no. 102017200866, patented on January 20, 2017.

[P4] Jens Reinecke, Alexander Dietrich, and Florian Löffl, “Robotergelenk”, German patent application no. 102017203595, patented on March 6, 2017.

[P3] 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.

[P2] Jens Reinecke and Alexander Dietrich, “Federmechanismus”, German patent application no. 102015206811, patented on April 16, 2015.

[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, Annette Hagengruber, Lioba Suchenwirth, and Jörn Vogel, "SMiLE: Robotische Assistenz in der Pflege", in Die politische Meinung: Zeitschrift für Politik, Gesellschaft, Religion und Kultur, Konrad-Adenauer-Stiftung, no. 559, pp. 51-53, November 2019. [ Konrad-Adenauer-Stiftung ]

[V2] Neal Y. Lii, Daniel Leidner, Peter Schmaus, Thomas Krueger, Andre Schiele, Adrian S. Bauer, Ralph Bayer, Serena Bertone, Dan Burdulis, Robert Burger, Julian Dietl, Alexander Dietrich, Angelo Giuliano, Gerhard Grunwald, Thomas Gumpert, Martin Heumos, Vanessa Hofbauer, Poul Knudson, Emil Korner, Annika Maier, Andreas Meissner, Thomas Mueller, Uwe Müllerschkowski, Miguel Neves, John Nolan, Kevin Pasay, Aaron Pereira, Martin Pfau, Benedikt Pleintinger, Philipp Reisich, Florian Schmidt, Klaus H. Strobl, Lioba Suchenwirth, Fabian Wappler, and Alin Albu-Schäffer, “The METERON SUPVIS Justin Orbit-to-Ground Experiment: A Glimpse into the Future of Astronaut-Robot Collaboration”, presented at the 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.

[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 ]

[V1] 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 ]

 

 

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Last updated on Monday, 11 March 2024 by Dr.-Ing. Alexander Dietrich