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Staff

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Maged Iskandar

DLR German Aerospace Center
Institute of Robotics and Mechatronics
Analysis and Control of Advanced Robotic Systems
Oberpfaffenhofen
Muenchener Str. 20
82234 Wessling

telephone: +49 8153 282609
email: This email address is being protected from spambots. You need JavaScript enabled to view it.

Publications

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, YouTubeIEEEXplore]

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 ]

 

Patents

[P8*] Maged Iskandar, Alexander Dietrich, and Alin Albu-Schäffer, "Verfahren zum Bestimmen externer Interaktionskräfte (...)", German patent application no. 10 2021 113 636.9, filed on May 26, 2021 (under review).

[P7*] Maged Iskandar and Alexander Dietrich, "Verfahren zum Betreiben eines Roboterarms", German patent application no. 10 2021 106 251.9, filed on March 15, 2021 (under review).

[P6*] Maged Iskandar, Alexander Dietrich, and Oliver Eiberger, "Verfahren zur Funktionsoptimierung eines Roboterarms", German patent application no. 10 2020 134 260.8, filed on December 18, 2020 (under review), and European patent application number 21 202 126.5, filed on October 12, 2021 (under review).

[P5*] Maged Iskandar, Alexander Dietrich, and Christian Ott, "Regelungsverfahren zum Regeln des Drehmoments oder der Kraft (...)", German patent application no. 10 2020 127 532.3, filed on October 20, 2020 (under review).

[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 (under review).

[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)

 

In the Media

IEEE Spectrum, 02.08.2019

Whole-Body Control in Assistive Robotics

Dynamic friction modeling and compensation

Shared control applied to the assistive robot EDAN

 

 

Last updated on Friday, 29 October 2021 by Maged Iskandar