DLR German Aerospace Center
Institute of Robotics and Mechatronics
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), accepted for publication, April 2023. [ Download , IEEEXplore , YouTube ]
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. [ Download , IEEEXplore ]
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. [ Download , IEEEXplore ] ICRA 2021 Best Human-Robot Interaction Paper Award Finalist
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 ]
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. [ Download , IEEEXplore]
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", accepted for publication in IEEE Robotics and Automation Magazine (RAM), 2020. [ IEEEXplore ]
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. [ Download ]
Gabriel Quere, Annette Hagengruber, Maged Iskandar, Samuel Bustamante, Daniel Leidner, Freek Stulp and Jörn Vogel, "Shared Control Templates for Assistive Robotics" in Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, pp. 1956-1962, May 2020. [ Download ]
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. [ Download, YouTube, IEEEXplore]
Maged Iskandar, and Sebastian Wolf, "Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation." in Proc. of the 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, pp. 7367-7373, May 2019. [ Download, YouTube, IEEEXplore ]
Sebastian Wolf and Maged Iskandar, "Extending a Dynamic Friction Model with Nonlinear Viscous and Thermal Dependency for a Motor and Harmonic Drive Gear" , in Proc. of the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, pp. 783-790, May 2018. [ Download, IEEEXplore ]
[P11] 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.
[P10] Maged Iskandar and Jörn Vogel, "Robotermanipulator mit Aufgaben-Nullraum", German patent no. 10 2022 115 462, patented on July 06, 2023.
[P9] Maged Iskandar and Werner Friedl, "Effektor, Roboter, Verfahren zum Kontrollieren eines Roboters und/oder eines Effektors und Computerprogramm", German patent application no. 10 2021 133 929.4, filed on December 20, 2021.
[P8] 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).
[P7] 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.
[P6] 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.
[P5] Maged Iskandar, Alexander Dietrich, and Christian Ott, "Regelungsverfahren zum Regeln des Drehmoments (...)", German patent application no. 102020127532, patented on October 20, 2020.
[P4] Maged Iskandar, Jörn Vogel, and Frederic sauer, "Verfahren zum Bestimmen der Manipulierbarkeit einer Handhabungsvorrichtung unter Berücksichtigung deren Gelenkgrenzen", German patent application no. 10 2020 116 900.0, filed on August 20, 2020.
[P3] Maged Iskandar, Jörn Vogel, Gabriel Quere, Annette Hagengruber, and Alexander Dietrich, "Assistenzroboter", German patent application no. 20 2020 102 438, patented on April 30, 2020.
[P2] Viktor Langofer and Maged Iskandar, “Drehgelenkeinrichtung für einen Roboter und Roboter” German patent application no. 10 2019 109 590.
[P1] Sebastian Wolf and Maged Iskandar, “Verfahren zur Bestimmung eines Steuerungsparameters eines Aktuators sowie Aktuator zur Durchführung eines solchen Verfahrens", German patent no. 10 2019 112 611.
(* under review)
Whole-Body Control in Assistive Robotics
Dynamic friction modeling and compensation
Shared control applied to the assistive robot EDAN