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Staff

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Prof (Monash Univ) Dr. Markus Grebenstein

DLR German Aerospace Center
Institute of Robotics and Mechatronics

Prof. (Adjunct Monash Univ) Dr. Sc. ETHZ Markus Grebenstein

 

 

Research Topics

  • MMX Idefix, a rover for Marsmoon Phobos Exploration
  • Design of anthropomorphic hands and robots
  • Functional abstraction of human extremities

Positions

  • 10/2023--present Adjunct Professor Monash University
  • 08/2018--present Project- Lead (DLR) MMX Rover Mission with CNES and JAXA
  • 03/2015--present Deputy Director Institute of Robotics and Mechatronics (DLR-RM)
  • 01/2010–present Head of department Mechatronic Components and Systems
  • 05/2009–12/2009 Provisional head of department Mechatronic Components and Systems
  • 04/2007–2012 Scientific coordinator development of multi-fingered robot hands
  • 05/2005–2013 Project leader DLR Hand Arm System
  • 05/2000–present Head of mechanical design group
  • 05/1999–04/2003 Leader mechanical design DLR-Hand II

Projects

  • 2018--present Development of the Rover Idefix for the JAXA MMX mission to the martian moon Phobos
  • 2003–2012 Development of the DLR Hand Arm System
  • 2003–2007 Member of the medical robot (KINEMEDIC and MIRO) design team
  • 1998–2003 Mechanical design of DLR Hand II
  • 1996–1999 Design of electromechanical brakes for cars and trains

Awards

  • 2022 Winner ICRA Most Influential Paper Award [Butterfass 2001]2012 Winner IROS: Best Video Award [Haddadin et al. 2012]
  • 2012 Winner IROS: Best IROS Jubilee Video Award [Vanderborght et al. 2012]
  • 2011 Finalist ICRA: Best Paper Award [Chalon et al. 2011]
  • 2011 Finalist ICRA: Best Video Award [Bäuml et al. 2011]
  • 2010 Winner HUMANOIDS: Best Paper Award [Grebenstein et al. 2010]
  • 2010 3rd place Walter Reis Innovation Award for Robotics
  • 2009 Winner Emerald: Outstanding Paper Award [Hagn et al. 2008]
  • 2000 Finalist ISER: Best Paper Award [Hirzinger et al. 2001]
  • 1998 Roter Punkt für höchste Designqualität (Spacemouse+).

Publications

Books and Bookchapters

Grebenstein, M. (2014a). Approaching Human Performance: The FunctionalityDriven Awiwi Robot Hand (Springer Tracts in Advanced Robotics). Berlin; Heidelberg; New York: Springer. isbn: 3319035924.

 

Grebenstein, M., M. Chalon, M. A. Roa, and C. Borst (2019). “DLR Multi-fingered Hands”. In: Humanoid Robotics: A Reference. Ed. by A. Goswami and P. Vadakkepat. Dordrecht: Springer. isbn: 978-94-007-6047-9. doi: 10.1007/978- 94-007-7194-9_85-1.

 

Wolf, S., T. Bahls, M. Chalon, W. Friedl, M. Grebenstein, H. H¨oppner, M. K¨uhne, D. Lakatos, N. Mansfeld, M. Ozparpucu, F. Petit, J. Reinecke, R. Weitschat, ¨ and A. Albu-Sch¨affer (Jan. 2015a). “Soft Robotics with Variable Stiffness Actuators: Tough Robots for Soft Human Robot Interaction”. In: Soft Robotics Transferring Theory to Application. Berlin, Heidelberg: Springer, pp. 231–254. isbn: 9783662445051. doi: 10.1007/978-3-662-44506-8_20.

 

Journal Publications

 

Albu-Schäffer, A., O. Eiberger, M. Grebenstein, S. Haddadin, C. Ott, T. Wimböck, S. Wolf, and G. Hirzinger (2008). “Soft robotics: From torque feedback controlled lightweight robots to intrinsically compliant systems”. In: IEEE RAS - Robotics and Automation Magazine 15.3.

 

Chalon, M., A. Dietrich, and M. Grebenstein (2014). “The Thumb of the Anthropomorphic Awiwi Hand: From Concept to Evaluation”. In: International Journal of Humanoid Robotics 11.3. doi: 10.1142/S0219843614500194.

 

Grebenstein, M., M. Chalon, W. Friedl, S. Haddadin, T. Wimb¨ock, G. Hirzinger, and R. Siegwart (2012a). “The hand of the DLR Hand Arm System: Designed for interaction”. In: International Journal of Robotics Research 31.13: Towards Autonomous Physical Human-Robot Interaction, pp. 1531–1555. published.

 

Grebenstein, M., M. Chalon, W. Friedl, S. Haddadin, T. Wimb¨ock, and R. Siegwart (2012b). “The hand of the DLR Hand Arm System: Designed for interaction”. In: I. J. Robotics Res. 31.13, pp. 1531–1555. doi: 10.1177/0278364912459209.

 

Grebenstein, M. and P. van der Smagt (2008). “Antagonism for a highly anthropomorphic handarmsystem”. In: Advanced Robotics 22.1: On Robotic Platforms for Research in Neuroscience, Part 2, pp. 39–55. issn: 0169-1864. doi: 10 . 1163/156855308X291836.

 

Grioli, G., S. Wolf, M. Garabini, M. Catalano, E. Burdet, D. Caldwell, R. Carloni, W. Friedl, M. Grebenstein, M. Laffranchi, D. Lefeber, S. Stramigioli, N. Tsagarakis, M. Damme, B. Vanderborght, A. Albu-Sch¨affer, and A. Bicchi (2015). “Variable stiffness actuators: The user’s point of view”. In: International Journal of Robotics Research 34.6, pp. 727–743. doi: 10 . 1177 / 0278364914566515.

 

Hagn, U., M. Nickl, S. J¨org, G. Passig, T. Bahls, A. Nothhelfer, F. Hacker, L. Le-Tien, A. Albu-Sch¨affer, R. Konietschke, M. Grebenstein, R. Warpup, R. Haslinger, M. Frommberger, and G. Hirzinger (June 2008). “The DLR MIRO: A versatile lightweight robot for surgical applications”. In: Industrial Robot: An International Journal 35.4, pp. 324–336. issn: 0143-991X. doi: 10.1108/ 01439910810876427.

 

Hagn, U., R. Konietschke, A. Tobergte, M. Nickl, S. J¨org, B. K¨ubler, G. Passig, M. Gr¨oger, F. Fr¨ohlich, U. Seibold, L. Le-Tien, A. Albu-Sch¨affer, A. Nothhelfer, F. Hacker, M. Grebenstein, and G. Hirzinger (2010). “DLR MiroSurge: A versatile system for research in endoscopic telesurgery”. In: International Journal of Computer Assisted Radiology and Surgery 5 (2), pp. 183–193. doi: 10.1007/s11548-009-0372-4.

 

Hirzinger, G., M. Fischer, B. Brunner, R. K¨oppe, M. Otter, M. Grebenstein, and I. Sch¨afer (1999a). “Advances in robotics: The DLR experience”. In: International Journal of Robotics Research 18.11: Robotics at the Millenium, pp. 1064–1087. issn: 0278-3649.

 

Hirzinger, G., N. Sporer, M. Schedl, J. Butterfaß, and M. Grebenstein (2004). “Torque-controlled lightweight arms and articulated hands: Do we reach technological limits now?” In: International Journal of Robotics Research 23.4-5, pp. 331–340. issn: 0278-3649.

 

Michel, P., S. Ulamec, U. B¨ottger, M. Grott, N. Murdoch, P. Vernazza, C. Sunday, Y. Zhang, R. Valette, R. Castellani, J. Biele, S. Tardivel, O. Groussin, L. Lorda, J. Knollenberg, J. T. Grundmann, D. Arrat, G. Pont, S. Mary, M. Grebenstein, H. Miyamoto, T. Nakamura, K. Wada, K. Yoshikawa, and K. Kuramoto (Jan. 2022). “The MMX rover: performing in situ surface investigations on Phobos”. In: Earth, Planets and Space 74.2.

 

Smagt, P. van der, M. Grebenstein, H. Urbanek, N. Fligge, M. Strohmayr, G. Stillfried, J. Parrish, and A. Gustus (2009). “Robotics of human movements”. In: Journal of Physiology-Paris 103.3–5, pp. 119–132. issn: 0928-4257. doi: 10.1016/j.jphysparis.2009.07.009.

 

Vanderborght, B., A. Albu-Sch¨aeffer, A. Bicchi, E. Burdet, D. Caldwell, R. Carloni, M. Catalano, O. Eiberger, W. Friedl, G. Ganesh, M. Garabini, M. Grebenstein, G. Grioli, S. Haddadin, H. H¨oppner, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, and S. Wolf (2013). “Variable impedance actuators: A review”. In: Robotics and Autonomous Systems 61.12, pp. 1601–1614. doi: 10.1016/j.robot.2013. 06.009.

 

V¨olk, S., S. Ulamec, J. Biele, M. Hecht, P. Lell, J. Fleischmann, S. Althapp, M. Grebenstein, J. Nuth, D. Wegel, W. Smith, L. Purves, D. Adams, S. Hill, J.

 

Leary, H. Weaver, and S. Sandford (July 2018). “Development and testing of a pyro-driven launcher for harpoon-based comet sample acquisition”. In: Acta Astronautica 152. doi: 10.1016/j.actaastro.2018.07.045.

 

Wolf, S., G. Grioli, W. Friedl, M. Grebenstein, H. H¨oppner, E. Burdet, D. Caldwell, A. Bicchi, S. Stramigioli, and B. Vanderborght (Jan. 2015b). “Variable Stiffness Actuators: Review on Design and Components”. In: IEEE-ASME Transactions on Mechatronics 21, pp. 1–1. doi: 10.1109/TMECH.2015.2501019.

 

Conference- Publications

 

Bäuml, B., F. Schmidt, T. Wimböck, O. Birbach, A. Dietrich, M. Fuchs, W. Friedl, U. Frese, C. Borst, M. Grebenstein, O. Eiberger, and G. Hirzinger (2011). “Catching flying balls and preparing coffee: Humanoid Rollin’Justin performs dynamic and sensitive tasks”. In: Robotics and Automation (ICRA), 2011 IEEE International Conference on (Shanghai, China, May 9–13, 2011). ” isbn = 978-1- 61284-386-5,”. IEEE/RAS, pp. 3443–3444. doi: 10.1109/ICRA.2011.5980073.

 

Bertrand, J., S. Tardivel, F. IJpelaan, E. Remetean, A. Torres, S. Mary, M. Chalon, F. Buse, T. Obermeier, M. Smisek, A. Wedler, J. Reill, and M. Grebenstein (May 2019). “Roving on Phobos: Challenges of the MMX Rover for Space Robotics”. In: Proceedings of 15th Symposium on Advanced Space Technologies in Robotics and Automation.

 

Butterfaß, J., M. Fischer, M. Grebenstein, S. Haidacher, and G. Hirzinger (2004). “Design and experiences with DLR Hand II”. In: World Automation Congress: Tenth International Symposium on Robotics with Applications (Seville, Spain, June 28–July 1, 2004). Vol. 15. IEEE, pp. 105–110. doi: 10.1109/WAC.2004. 185205.

 

Butterfaß, J., M. Grebenstein, H. Liu, and G. Hirzinger (2001). “DLR-Hand II: Next generation of a dexterous robot hand”. In: Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on (Seoul, Korea, May 21– 26, 2001). Vol. 1. IEEE/RAS, pp. 163–178. doi: 10.1109/ROBOT.2001.932538.

 

Chalon, M., F. Buse, T. Obermeier, M. Sm´ısek, A. Wedler, J. Reill, and M. Grebenstein (May 2019). “Roving on Phobos: Challenges of the MMX Rover for Space Robotics”. In: 15th Symposium on Advanced Space Technologies in Robotics and Automation.

 

Chalon, M., M. Grebenstein, T. Wimb¨ock, and G. Hirzinger (2010). “The thumb: Guidelines for a robotic design”. In: Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on (Taipei, Taiwan, Oct. 18–22, 2010). IEEE/RSJ, pp. 2153–2858.

 

Chalon, M., A. Wedler, A. Baumann, W. Bertleff, A. Beyer, J. Butterfaß, M. Grebenstein, R. Gruber, F. Hacker, E. Krämer, K. Landzettel, M. Maier, H.-J. Sedlmayr, N. Seitz, F. Wappler, B. Willberg, T. Wimböck, G. Hirzinger, and F. Didot (2011b). “Dexhand: A space qualified multi-fingered robotic hand.” In: Robotics and Automation (ICRA), 2011 IEEE International Conference on (Shanghai, China, May 9–13, 2011). IEEE/RAS, pp. 2204–2210. doi: 10.1109/ ICRA.2011.5979923.

 

Friedl, W., M. Chalon, J. Reinecke, and M. Grebenstein (2011a). “FAS a flexible antagonistic spring element for a high performance over actuated hand”. In: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on (S. Francisco, USA, Sept. 25–30, 2011). IEEE/RSJ, pp. 1366–1372. doi: 10.1109/IROS.2011.6094569.

 

Friedl, W., M. Chalon, J. Reinecke, and M. Grebenstein (2015). “FRCEF: The new friction reduced and coupling enhanced finger for the Awiwi hand”. In:15th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2015, Seoul, South Korea, November 3-5, 2015, pp. 140–147. doi: 10.1109/ HUMANOIDS.2015.7363527.

 

Friedl, W., H. Höppner, F. Schmidt, M. A. Roa, and M. Grebenstein (2018). “CLASH: Compliant Low Cost Antagonistic Servo Hands”. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6469–6476. doi: 10.1109/IROS.2018.8593903.

 

Gao, X. H., M. H. Jin, L. Jiang, Z. W. Xie, P. He, L. Yang, Y. W. Liu, R. Wei, H. G. Cai, H. Liu, J. Butterfaß, M. Grebenstein, N. Seitz, and G. Hirzinger (2003). “The HIT/DLR Dexterous Hand: Work in progress”. In: Robotics and Automation 2003. Proceedings. ICRA ’03 .IEEE International Conference on (Taipei, Taiwan, Sept. 14–19, 2003). IEEE/RAS.

 

Grebenstein, M. (Nov. 2014c). “Why the State of the Art Matters: The Importance of Functional Abstraction in Robot Hand Design”. In.

 

Grebenstein, M., A. Albu-Schäffer, T. Bahls, M. Chalon, O. Eiberger, W. Friedl, R. Gruber, S. Haddadin, U. Hagn, R. Haslinger, H. H¨oppner, S. J¨org, M. Nickl, A. Nothhelfer, F. Petit, J. Reill, N. Seitz, T. Wimb¨ock, S. Wolf, T. W¨usthoff, and G. Hirzinger (2011). “The DLR Hand Arm System”. In: Robotics and Automation (ICRA), 2011 IEEE International Conference on (Shanghai, China, May 9–13, 2011). IEEE/RAS. doi: 10.1109/ICRA.2011.5980371.

 

Grebenstein, M., M. Chalon, G. Hirzinger, and R. Siegwart (2010a). “A method for hand kinematics designers: 7 billion perfect hands”. In: 1st International Conference on Applied Bionics and Biomechanics ICABB-2010 (Venice, Italy, Oct. 14–16, 2010).

 

Grebenstein, M., M. Chalon, G. Hirzinger, and R. Siegwart (2010b). “Antagonistically driven finger design for the anthropomorphic DLR Hand Arm System”. In: Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on (Nashville, USA, Dec. 6–9, 2010). IEEE/RAS. doi: 10.1109/ICHR. 2010.5686342.

 

Haddadin, S., F. Huber, K. Krieger, R. Weitschat, A. Albu-Sch¨affer, S. Wolf, W. Friedl, M. Grebenstein, F. Petit, J. Reinecke, and R. Lampariello (2012b). “Intrinsically elastic robots: The key to human like performance”. In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on (Vilamoura, Portugal, Oct. 7–12, 2012). Robotics and Autonomous Systems.

 

Haidacher, S., J. Butterfaß, M. Fischer, M. Grebenstein, K. J¨ohl, K. Kunze, M. Nickl, N. Seitz, and G. Hirzinger (2003). “DLR Hand II: Hard- and software architecture for information processing”. In: Robotics and Automation 2003. Proceedings. ICRA ’03 .IEEE International Conference on (Taipei, Taiwan, Sept. 14–19, 2003). Vol. 1. IEEE/RAS, pp. 684–689. doi: 10.1109/ROBOT. 2003.1241673.

 

Hirzinger, G., B. Brunner, J. Butterfaß, M. Fischer, M. Grebenstein, K. Landzettel, and M. Schedl (2001a). “Space robotics - Towards advanced mechatronic components and powerful telerobotic systems”. In: PROCEEDINGS: The 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space: A New Space Odyseey, Montreal Canada June 18 – 22, 2001 (Quebec,Canada, June 18–22, 2001). European Space Agency.

 

Hirzinger, G., J. Butterfaß, M. Fischer, M. Grebenstein, M. H¨ahnle, R. K¨oppe, H. Liu, I. Sch¨afer, N. Sporer, and M. Schedl (2001b). “A new generation of lightweight robot arms and multifingered hands”. In: Experimental Robotics VII (Waiki, USA, Dec. 11–13, 2000). Ed. by D. Rus and S. Singh. Lecture Notes in Control and Information Science 271. Berlin: Springer, pp. 569–570. isbn: 3-540-42104-1.

 

Hirzinger, G., J. Butterfaß, M. Fischer, M. Grebenstein, M. H¨ahnle, H. Liu, I. Sch¨afer, and N. Sporer (2000a). “A mechatronics approach to the design of lightweight arms and multifingered hands”. In: Robotics and Automation, 2000. Proceedings. ICRA ’00. IEEE International Conference on (San Francisco, USA, Apr. 24–28, 2000). Vol. 1. IEEE/RAS, pp. 46–54.

 

Hirzinger, G., J. Butterfaß, M. Grebenstein, M. H¨ahnle, I. Schaefer, and N. Sporer (2000b). “Robonauts need light-weight arms and articulated hands”. In: ESA Workshop on Advanced Space Technologies for Robotics and Automation ASTRA (Noordwijk, Netherlands, Dec. 5–7, 2000).

 

Hirzinger, G., J. Butterfaß, M. Grebenstein, M. H¨ahnle, I. Sch¨afer, and N. Sporer (2000c). “A mechatronics approach to the design of light-weight arms”. In: Proc. International Workshop on Robotics in Alpe-Adria-Danube Region (Maribor, Slovenia, June 1–3, 2000).

 

Hirzinger, G., J. Butterfaß, M. Grebenstein, M. H¨ahnle, I. Sch¨afer, and N. Sporer (2001c). “Robonauts need light-weight arms and articulated hands”. In: Proc. Harmonic Drive International Symposium (Nagano,Japan, Nov. 20–21, 2001), pp. 93–100.

 

Hirzinger, G., J. Butterfaß, M. Grebenstein, I. Sch¨afer, N. Sporer, M. Fischer, H. Liu, A. Albu-Sch¨affer, M. Schedl, and P. Neumann (2001d). “Space robotics - Driver for a new mechatronic generation of light-weight Arms and Multifingered Hands”. In: Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on (Como, Italy, July 8–12, 2001), pp. 1160–1168.

 

Hirzinger, G., K. Landzettel, B. Brunner, I. Sch¨afer, M. Fischer, M. Grebenstein, N. Sporer, J. Schott, M. Schedl, and C. Deutrich (1999b). “DLR’s robotic lab - recent developments in space robotics”. In: iSAIRAS ’99: Fifth International Symposium on Artificial Intelligence, Robotics and Automation in Space, ESTEC, Nordwijk, The Netherlands 1–3 June 1999 (Noordwijk, Netherlands, June 1–3, 1999). European Space Agency.

 

Hirzinger, G., N. Sporer, J. Butterfaß, M. Schedl, M. Grebenstein, H. Liu, M. H¨ahnle, P. Neumann, and O. Eiberger (2002a). “Eine neue Generation von Leichtbau-Robotern mit Mehrfingrigen H¨anden”. In: Proc. ROBOTIK (Ludwigsburg, Germany, June 19–20, 2002).

 

Hirzinger, G., N. Sporer, M. Schedl, J. Butterfaß, and M. Grebenstein (2002b). “Robotics and mechatronics in aerospace”. In: Proc. International Workshop on Advanced Motion Control (AMC) (Maribor, Slovenia, July 3–5, 2002). Ed. by IEEE. Vol. AMC2002 - Maribor, pp. 19–27.

 

Hirzinger, G., N. Sporer, M. Schedl, J. Butterfaß, and M. Grebenstein (2003). “Torque-controlled light weight arms and articulated hands - do we reach technological limits now?” In: Experimental Robotics VIII: Proceedings of the 8th Symposium on Experimental Robotics ISER02 (Sant’Angelo d’Ischia, Italy, July 8–11, 2002). Ed. by B. Siciliano and P. Dario. Springer Tracts in Advanced Robotics 5. Berlin: Springer, pp. 21–47. isbn: 978-3-540-00305-2.

 

Höppner, H., M. Grebenstein, and P. van der Smagt (2015). “Two-dimensional orthoglide mechanism for revealing areflexive human arm mechanical properties”. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015, pp. 1178–1185. doi: 10.1109/IROS.2015.7353519.

 

Liu, H., J. Butterfaß, M. Grebenstein, and G. Hirzinger (2001). “DLR multisensory articulated hand I and II”. In: International Workshop on Bio-Robotics and Teleoperation (Beijing, China, May 27–30, 2001).

 

Loeffl, F., A. Werner, D. Lakatos, J. Reinecke, S. Wolf, R. Burger, T. Gumpert, F. Schmidt, C. Ott, M. Grebenstein, and A. Albu-Sch¨affer (2016). “The DLR C-runner: Concept, design and experiments”. In: 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016, Cancun, Mexico, November 15-17, 2016, pp. 758–765. doi: 10.1109/HUMANOIDS.2016.7803359.

 

Palli, G., C. Melchiorri, T. Wimb¨ock, M. Grebenstein, and G. Hirzinger (2007). “Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints”. In: Robotics and Automation, 2007 IEEE International Conference on (Roma, Italy, Apr. 10–14, 2007). IEEE/RAS, pp. 4367–4372.

 

Panzer, H., O. Eiberger, M. Grebenstein, P. Schaefer, and P. van der Smagt (2008). “Human motion range data optimizes anthropomorphic robotic hand-arm system design”. In: Proc. International Conference on Motion and Vibration Control (MOVIC) (Munich, Germany, Sept. 15–18, 2008). Technische Universit¨at M¨unchen, pp. 1–9.

 

Petit, F., M. Chalon, W. Friedl, M. Grebenstein, A. Albu-Sch¨affer, and G. Hirzinger (2010). “Bidirectional antagonistic variable stiffness actuation: Analysis, design and implementation”. In: Robotics and Automation (ICRA), 2010 IEEE International Conference on (Anchorage, Alaska, May 3–8, 2010). IEEE/RAS, pp. 4189–4196. doi: 10.1109/ROBOT.2010.5509267.

 

Reinecke, J., M. Chalon, W. Friedl, and M. Grebenstein (2014). “Guiding effects and friction modeling for tendon driven systems”. In: 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31 - June 7, 2014, pp. 6726–6732. doi: 10.1109/ICRA.2014.6907852.

 

Ulamec, S., P. Michel, M. Grott, U. Boettger, H.-W. H¨ubers, N. Murdoch, P. Vernazza, K. Ozg¨ur, J. Knollenberg, K. Willner, M. Grebenstein, A. Besson, J. ¨ Biele, C. Krause, T.-M. Ho, C. Lange, J. Grundmann, K. Sasaki, M. Maibaum, and F. Rull (Oct. 2019a). “A rover for the JAXA MMX Mission to Phobos”. In: International Astronautical Federation.

 

Ulamec, S., P. Michel, M. Grott, U. B¨ottger, H.-W. H¨ubers, N. Murdoch, P. Vernazza, K. Ozg¨ur, J. Knollenberg, K. Willner, M. Grebenstein, S. Mary, P. Chaz- ¨ alnoel, J. Biele, C. Krause, T.-M. Ho, C. Lange, J. T. Grundmann, K. Sasaki, M. Maibaum, O. K¨uchemann, J. Reill, M. Chalon, S. Barthelmes, R. Lichtenheldt, R. Krenn, M. Smisek, J. Bertrand, A. Moussi, C. Delmas, S. Tardivel, D. Arrat, F. IJpelaan, L. Melac, L. Lorda, E. Remetean, M. Lange, O. Mierheim, S. Reershemius, T. Usui, M. Matsuoko, T. Nakamura, K. Wada, H. Miyamoto, K. Kuramoto, J. LeMaitre, G. Mas, M. Delpech, L. Celine, A. Rafflegeau, H. Boirad, R. Schmisser, C. Virmontois, C. Cenac-Morthe, A. Besson, and F. Rull (Oct. 2019b). “A rover for the JAXA MMX Mission to Phobos”. In: 70th International Astronautical Congress, IAC 2019. International Astronautical Federation, IAC–19.

 

Vanderborght, B., A. Albu-Sch¨affer, A. Bicchi, E. Burdet, D. G. Caldwell, R. Carloni, M. Catalano, G. Ganesh, M. Garabini, G. Grioli, S. Haddadin, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. Stramigioli, N. Tsagarakis, M. V. Damme, R. V. Ham, L. C. Visser, S. Wolf, and M. Grebenstein (2012). “Variable impedance actuators: Moving the robots of tomorrow”. In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on (Vilamoura, Portugal, Oct. 7–12, 2012). IEEE/RAS.

 

Vayugundla, M., T. Bodenm¨uller, M. J. Schuster, M. G. M¨uller, L. Meyer, P. Kenny, F. Schuler, M. Bihler, W. St¨urzl, B.-M. Steinmetz, J. Langwald, A. Lund, R. Giubilato, A. Wedler, R. Triebel, M. Smisek, and M. Grebenstein (2021). “The MMX Rover on Phobos: The Preliminary Design of the DLR Autonomous Navigation Experiment”. In: 2021 IEEE Aerospace Conference, AERO 2021, pp. 1– 18.

 

Völk, S., S. Ulamec, J. Biele, M. Hecht, P. Lell, J. Fleischmann, S. Althapp, M. Grebenstein, J. Nuth, D. Wegel, W. Smith, L. Purves, D. Adams, S. Hill, J. Leary, H. Weaver, and S. Sandford (Sept. 2017). “Development and testing of a pyro-driven launcher for harpoon-based comet sample acquisition”. In.

 

Wedler, A., M. Chalon, K. Landzettel, M. G¨orner, E. Kr¨amer, R. Gruber, A. Beyer, H. Sedlmayr, B. Willberg, W. Bertleff, J. Reill, M. Grebenstein, M. Schedl, A. Albu-Sch¨affer, and G. Hirzinger (2012). “DLR’s dynamic actuator modules for robotic space applications”. In: Proc. Aerospace Mechanisms Symposium (AMS) (Pasedena, USA, May 16–18, 2012).

 

Plenary Talks

Grebenstein, M. (2014b). “Compliant Robots in Automation: The Impact of Humanoid Robotics on Automation”. Math for the Digital Factory (Weierstraß- Institut f¨ur Angewandte Analysis und Stochastik, May 5, 2014). Berlin.

 

Grebenstein, M. (2017). “Autonome Systeme in der Robotik. Was ist möglich und wo führt das hin”. Roboter, Assistenzsysteme und K¨unstliche Intelligenz (IGMetall, Sept. 21, 2017). Frankfurt.

 

Grebenstein, M. (2019b). “Keystones to Robotic Long- Term- Space Missions to Moons and Planets”. Extreme Robotics (Congress Center Holiday Inn Moskovskye Vorota, June 13, 2019). Extreme Robotics. St. Petersburg, Russia.

 

Grebenstein, M. (2015b). “Herausforderung Humanoide Robotik: Dem Mensch ein Ebenbild?” (Lionsclub Stuttgart, Oct. 19, 2015). Stuttgart.

 

Grebenstein, M. (2018b). “Robotic Hands and Dexterous Manipulation, an Untackled Challenge for More Than 30 Years.” Journ´ees Nationales du GdR Robotique (CNRS, Nov. 21, 2018). Paris.

 

Grebenstein, M. (2022). “Wheeled Low Gravity Body Exploration and In-Situ Science in the Martian System: The CNES & DLR MMX Rover on Phobos”. 2022 Space Robotics Workshop (KAIST, Nov. 9, 2022). Daejeon, Korea.

 

Patents

 

Licensed Patents

Dietrich, J., B. Gombert, and M. Grebenstein (Mar. 2003). “Self-energising electromechanical brake”. EP0953785B1 (EP). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Dietrich, J., M. Grebenstein, T. Lange, M. Schedl, and P. Neumann (June 2001c). “[DE] Vorrichtungen f¨ur Roboterantriebseinheiten [EN] Devices for Robot Drive Units”. EP01293024B1 (EP). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Dietrich, J., M. Grebenstein, T. D. Lange, and M. Schedl (June 2001d). “[DE] Steuerung und Regelung von Elektromotoren [EN] Control and Regulation of Electric Motors”. EP01293033B1 (EP). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M. (Dec. 2005a). “[DE] Kupplung zum Ausgleichen eines Achsversatzes”. DE102005058661A1 (DE). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Granted Patents

Birkenbach, R., A. Hartlep, R. Wohlgemuth, M. Bertram, A. Albu-Schäffer, M. Grebenstein, U. Hagn, K. Jöhl, M. Nickl, T. Ortmaier, F. Hacker, S. Jörg, and R. Konietschke (Aug. 2005). “[DE] Anthropomorpher medizintechnischer Roboterarm mit Bewegungseinschr¨ankung...” EP000001754448B1. BRAINLAB AG, DLR.

 

Dietrich, J., B. Gombert, and M. Grebenstein (Apr. 1998a). “[DE] Elektromechanische Bremse mit Selbstverst¨arkung”. DE000019819564C2. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Dietrich, J., B. Gombert, and M. Grebenstein (Aug. 1998b). “[EN] Electromechanical brake with self-energization”. US000006318513B1. Deutsches Zentrum f¨ur Luft- und Raumfahrt e.V.

 

Grebenstein, M. (Dec. 2004). “[DE] Gelenkeinheit f¨ur einen Roboter [EN] Joint unit e.g. for robot, ... ” DE102004059235B3. Deutsches Zentrum für Luft- und Raumfahrt e.V. Basisgelenk Kime.

 

Grebenstein, M. (Apr. 2006a). “[DE] Robotergelenk [EN] Robot joint”. DE102006020013B4 (DE). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M. (Apr. 2006b). “[DE] Robotergelenk [EN] Robot joint comprises retaining element, which ... ” DE102006020013B4. Deutsches Zentrum für Luftund Raumfahrt e.V.

 

Grebenstein, M. (Feb. 2006c). “[DE] Roboterhand [EN] Robotic Hand”. DE102006006322B3 (DE). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M. (2010a). “[DE] Roboter [EN] Robot e.g. ball robot, for moving on ground, has drive wheel rolling on running surface, and spinner device with spinner, where rotation axle of spinner runs in main plane in radial ...” DE102010053443A1 (DE).

 

Grebenstein, M. (2010b). “[DE] Verfahren zum Erfassen von Bewegungen einer menschlichen Hand [EN] Human hand movements detecting method, involves computing movements of degrees of freedom, which are not detected over separate ...” DE102010019356A1 (DE).

 

Grebenstein, M. (Sept. 2013). “[DE] System zur Kamerastabilisierung sowie Verfahren zur Kamerastabilisierung [EN] Camera stabilization system for stabilizing camera”. DE102012203834 B3 (EP). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M. (Feb. 2015a). “Beinbasierter Roboter mit mindestens zwei Beinen”. DE 10 2011 105 200 B4 (DE). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M., A. Hagengruber, and J. Vogel (2017). “[DE] Verfahren zum Steuern einer Vorrichtung in einem schwerelosen Raum”. DE102017213829A1 (DE). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Lein, R., S. Angerer, B. Gombert, and M. Grebenstein (July 2000). “[DE] Sitz”. DE000010034289B4. Bayerische Motoren Werke AG, Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

 

Patent Applications

Birkenbach, R., A. Hartlep, R. Wohlgemuth, M. Bertram, A. Albu-Sch¨affer, M. Grebenstein, U. Hagn, K. J¨ohl, M. Nickl, T. Ortmaier, F. Hacker, S. J¨org, and R. Konietschke (Aug. 2006). “[EN] ANTHROPOMORPHIC MEDICAL ROBOT ARM WITH MOVEMENT RESTRICTIONS ”. US020070129846A1. BMW AG.

 

Dietrich, J., B. Gombert, and M. Grebenstein (Sept. 1998c). “[EN] ELECTROMECHANICAL TYPE BRAKE”. JP000011315865AA. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Dietrich, J., M. Grebenstein, T. Lange, and M. Schedl (June 2001a). “[DE] STEUERUNG UND REGELUNG VON ELEKTROMOTOREN [EN] CONTROL AND REGULATION ... ” WO002001099267A1. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Dietrich, J., M. Grebenstein, T. Lange, M. Schedl, and P. Neumann (June 2001b). “[DE] VORRICHTUNGEN FUR ROBOTERANTRIEBSEINHEITEN [ ¨ EN] DEVICES FOR ROBOT ... ” WO002001099254A1. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Dietrich, J., M. Grebenstein, T. D. Lange, and M. Schedl (June 2000a). “[DE] Vorrichtung und Verfahren zur Steuerung und Regelung von Elektromotoren”. DE000010030130A1. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Dietrich, J., M. Grebenstein, T. D. Lange, and M. Schedl (June 2000b). “[DE] Vorrichtungen f¨ur Antriebseinheiten von Leichtbaurobotern”. DE000010030129A1. Deutsches. Zentrum. für Luft-und Raumfahrt e.V.

 

Elhardt, F., M. Grebenstein, E. Krämer, F. Loeffl, and J. Reinecke (2017). “[DE] Wolfromgetriebe”. DE102017217235A1 (DE). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M. (Dec. 2005b). “[EN] Joint unit for a robot”. US020060117897A1. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M. (Mar. 2006d). “[EN] Coupling for compensating axle misalignment”. US020070129153A1. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M. (Apr. 2006e). “Antagonistic rotating device, especially for moving robot hand elements, has force transmission unit formed in such way that both drive units can act as agonists to apply rotational moment in same direction to joint element”. DE102006016958A1 (DE). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M. (Feb. 2007). “[DE] Roboterhand [EN] Robot hand [FR] Main de robot”. EP000001820610A1. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M. (Apr. 9, 2018a). “Antriebssystem f¨ur ein Instrument der minimalinvasiven Chirurgie”. 102018205303.0 (DE).

 

Grebenstein, M. (Jan. 9, 2019a). “3D-Drucker mit Brandschutzfunktion”. 102019100416.0 (DE). Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M., J. Dietrich, and B. Gombert (Aug. 1997). “[EN] Drive for an electrically actuatable vehicle brake”. US000006059076A. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M., J. Dietrich, and B. Gombert (Feb. 1998a). “[DE] Antrieb f¨ur eine elektrisch bet¨atigbare Fahrzeugbremse”. DE000019807432A1. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M., J. Dietrich, and B. Gombert (June 1998b). “[DE] Antrieb f¨ur eine elektrisch bet¨atigbare Fahrzeugbremse [EN] Actuator ... ” EP000000886076A3. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Grebenstein, M., B. Gombert, G. Bakir, R. Lein, and S. Angerer (Nov. 1999). “[DE] Verfahren zum Ein- und/oder Verstellen eines Kraftfahrzeugsitzes, ...” DE000019952560C2. B. M. W. A. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Lein, R., S. Angerer, B. Gombert, and M. Grebenstein (July 2001). “[EN] Seat”. US020020021038A1. B. M. W. A. Deutsches Zentrum für Luft- und Raumfahrt e.V.

 

Lii, N. Y.-S., A. Balzer, G. Stillfried, Z. Chen, B. Pleintinger, and M. Grebenstein (2017). “Handexoskelett sowie Roboterarm mit einem solchen Handexoskelett”. DE102017220936A1 (DE).

Last updated on Tuesday, 23 January 2024 by Dr. Markus Grebenstein