Staff

DLR German Aerospace Center
Institute of Robotics and Mechatronics

 

Short CV:

Michael Panzirsch received his Diploma in mechanical engineering from the Technical University of Munich (TUM) in 2010. Since then he is with the Department for Analysis and Control of Advanced Robotic Systems of the German Aerospace Center (DLR) in Oberpfaffenhofen as a research associate. He finished his Ph.D. thesis on ‘Passivity-based Multilateral Control for delayed Teleoperation’ at the Polytechnical University of Madrid (UPM) in October 2018. His main research interests are teleoperation of stationary and mobile robots for space, humanitarian and healthcare applications. Currently, he is working on topics as delayed teleoperation, model-augmented teleoperation and shared control concepts.

Research Topics:

• Multilateral Teleoperation
• Teleoperation of stationary and mobile robots
• Model-Augmented Teleoperation

Projects:

SMiLE - sub-project lead control

HoviTron (Homepage) - project lead

Ceti - researcher

AHEAD (Homepage) - researcher

 

Finished Projects:

METERON - Analog-1: Entwickler Tele-Manipulationsregelung

Kontur-2: Entwickler Multilaterale Regelung

ROboMObil - Teilprojektleiter Mensch-Maschine-Schnittstelle

Awards and Honors:

2024:

• DLR WIssenschaftspreis 2023

2023:

• TDPA-ER in the IEEE Standard P1918.1.1

2018:

• Finalist of the Best Paper Award on Safety, Security, and Rescue Robotics (in memory of Motohiro Kisoi) at IROS 2018

Patents:

• TDPA-HD MATM (Model-Augmented Energy-Flow Reference for High-Delay Telemanipulation) Regelungsverfahren für die Teleaktuierung, Aktuatorsystem und Roboter
  2022072016123300DE
• TDPA-ER (Energy-Reflection Based Time Domain Passivity Approach): Aktuatorsystem DE102020115294A1, US2020310386A1
• DDPA (Deflection-Domain Passivity Approach) Gradienten-basierte Passivitätsregelung von variablen Steifigkeiten DE102021111413
• Passive Coupling Reference: Verfahren zur Stabilisierung eines haptischen Teleoperationssystems mit benutzerdefiniertem Haptik-Feedback-Regler DE102022107130B4
• TDPA-ER (Energy-Reflection Based Time Domain Passivity Approach) Optimization through energy reflection: Aktuatorsystem DE102023101816B3

Research Overview - Control Theory:

Space Robotics Research:

• Panzirsch, Michael and Singh, Harsimran and Wu, Xuwei and Iskandar, Maged ... and Vogel, Jörn and Lii, Neal Yi-Sheng, Virtual Elasto-Plastic Robot Compliance to Active Environments. Sci. Robot. 10, eadq1703(2025). DOI:10.1126/scirobotics.adq1703. https://elib.dlr.de/213023/
• Panzirsch, M. and Pereira, A. and Singh, H. and Weber, B. .... and Krüger, T. Exploring planet geology through force-feedback telemanipulation from orbit, Science Robotics, 65 (7), 2022, doi:10.1126/scirobotics.abl6307.  https://elib.dlr.de/186200/
• Lii, Neal Yi-Sheng and Schmaus, Peter and Leidner, Daniel and Krueger, Thomas ... and Panzirsch, Michael... and Visentin, Gianfranco und Albu-Schäffer, Alin (2022) Introduction to Surface Avatar: the First Heterogeneous Robotic Team to be Commanded with Scalable Autonomy from the ISS, In Proceedings of the International Astronautical Congress, 73rd International Astronautical Congress (IAC), 18-22 Sep 2022, Paris, France. ISSN 0074-1795.
• Krueger, T. and Ferreira, E. and Gherghescu, A. and Hann, L. and den Exter, E., van der Hulst, F. and Gerdes, L. and Cencetti, L. and Pereira, A. and Singh, H. and Panzirsch, M. and Hulin, T. and Balachandran, R. and Weber, B. and Lii, N., Designing and Testing a Robotic Avatar for Space-to-Ground Teleoperation: the Developers’ Insights, International Astronautical Congress (IAC), 2020
• Panzirsch, Michael and Singh, Harsimran and Krüger, Thomas and Ott, Christian and Albu-Schäffer, Alin, Safe Interactions and Kinesthetic Feedback in High Performance Earth-To-Moon Teleoperation, IEEE Aerospace Conference,  7.-14. März, Big Sky, USA 
• Panzirsch, Michael and Balachandran, Ribin and Artigas, Jordi and Riecke, Cornelia and Ferre, Manuel and Albu-Schäffer, Alin, Haptic Intention Augmentation for Cooperative Teleoperation, IEEE International Conference on Robotics and Automation, 29.Mai-3.Juni 2017, Singapur, Singapur
• Artigas, Jordi and Balachandran, Ribin and deStefano, Marco and Panzirsch, Michael and Lampariello, Roberto and Harder, Jan and Letschnik, Juergen, Teleoperation for On-Orbit Servicing Missions through the ASTRA Geostationary Satellite, IEEE Aerospace Conference 2016, 5.-12. March 2016, Big Sky, USA.

Healthcare Assistance Robotics Research:

• Panzirsch, Michael and Singh, Harsimran and Wu, Xuwei and Iskandar, Maged ... and Vogel, Jörn and Lii, Neal Yi-Sheng, Virtual Elasto-Plastic Robot Compliance to Active Environments. Sci. Robot. 10, eadq1703(2025). DOI:10.1126/scirobotics.adq1703. https://elib.dlr.de/213023/
• Vogel, Jörn and Leidner, Daniel and Hagengruber, Annette and Panzirsch, Michael and Bäuml, Berthold and Denninger, Maximilian and Hillenbrand, Ulrich and Suchenwirth, Lioba and Schmaus, Peter and Sewtz, Marco and Bauer, Adrian S. and Hulin, Thomas and Iskandar, Maged and Quere, Gabriel and Albu-Schäffer, Alin and Dietrich, Alexander, An Ecosystem for Heterogeneous Robotic Assistants in Caregiving, IEEE Robotics and Automation Magazine, 2020, accepted
• Dietrich, Alexander and Vogel, Jörn and Hagengruber, Annette and Leidner, Daniel and Schmaus, Peter and Mansfeld, Nico and Klodmann, Julian and Bahls, Thomas and Panzirsch, Michael and Suchenwirth, Lioba and Albu-Schäffer, Alin, “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.
• Panzirsch, Michael and Weber, Bernhard and Rubio, Luis and Coloma, Sofia and Ferre,Manuel and Artigas, Jordi, Tele-Healthcare with Humanoid Robots: A User Study on the Evaluation of Force Feedback Effects, IEEE World Haptics Conference, 6.-9. Juni 2017, Fürstenfeldbruck, Germany

Journal Publications:

2025:

• Panzirsch, Michael and Singh, Harsimran and Wu, Xuwei and Iskandar, Maged ... and Vogel, Jörn and Lii, Neal Yi-Sheng, Virtual Elasto-Plastic Robot Compliance to Active Environments. Sci. Robot. 10, eadq1703(2025). DOI:10.1126/scirobotics.adq1703. https://elib.dlr.de/213023/

2024:

• Panzirsch, Michael and Singh, Harsimran and Sierotowicz, Marek and Dietrich, Alexander, Extension of the Deflection-Domain Passivity Approach for Variable Stiffnesses to SO(3), RA-L, accepted, 2024
• Panzirsch, Michael and Bechtel, Nicolai and Hulin, Thomas, Model-Augmented Energy-Flow Reference for High-Delay Telemanipulation, RA-L, accepted, 2024
• Panzirsch, Michael and Singh, Harsimran and Xu, Xiao and Dietrich, Alexander and Hulin, Thomas and Steinbach, Eckehard and Albu-Schaeffer, Alin, Enhancing the Force Transparency of the Energy-Reflection Based Time Domain Passivity Approach, IEEE Transactions on Control Systems Technology, accepted, 2024

2023:

• Bechtel, Nicolai and Weber,  Bernhard and Severin,  Pascal and Sancho Aragon, Jaime and Van Bogaert, Laurie and Panzirsch, Michael, Towards Physically Realistic Vision in Teleoperation: A User Study with Light-field Head Mounted Display and 6-DoF Head Motion, Journal of the Society for Information Display, accepted, 2023

2022:

• Panzirsch, M. and Pereira, A. and Singh, H. and Weber, B. .... and Krüger, T., Exploring planet geology through force-feedback telemanipulation from orbit, Science Robotics, 65 (7), 2022, doi:10.1126/scirobotics.abl6307. https://elib.dlr.de/186200/
• Panzirsch, Michael and Weber, Bernhard and Bechtel, Nicolai and Grabner, Nicole and Lingenauber, Martin, Light-field head mounted displays reduce the visual effort: A user study, Journal of the Society for Information Display, accepted, 2022
• Panzirsch, Michael and Sierotowicz, Marek and Prakash, Revanth and Singh, Harsimran and Ott, Christian, Deflection Domain-Based Passivity Control of Variable Stiffnesses Based On Potential Energy Reference, IEEE Robotics and Automation Letters and ICRA, accepted, 2022

2021:

• Hulin, Thomas and Panzirsch, Michael and Singh, Harsimran and Balachandran, Ribin and Coelho, Andre and Pereira, Aaron and Weber, Bernhard and Bechtel, Nicolai and Riecke, Cornelia and Brunner, Bernhard and Lii, Neal Y. and Klodmann, Julian and Hellings, Anja and Hagmann, Katharina and Quere, Gabriel and Bauer, Adrian S. and Sierotowicz, Marek and Lampariello, Roberto and Vogel, Jörn and Dietrich, Alexander and Leidner, Daniel and Ott, Christian and Hirzinger, Gerd and Albu-Schäffer, Alin , Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview and Current Use-Cases, Accepted for Frontiers in Robotics and AI, 2021
• Balachandran, Ribin and Panzirsch, Michael and De Stefano, Marco and Singh, Harsimran and Ott, Christian and Albu-Schäffer, Alin, Stabilisation of User-defined Feedback in Time-delayed Teleoperation with Passive Coupling Reference, IEEE Robotics and Automation Letters, 2021
• Panzirsch, Michael and Singh, Harsimran, Position Synchronization Through The Energy-Reflection Based Time Domain Passivity Approach in Position-Position Architectures, IEEE Robotics and Automation Letters and IROS, 2021
• Xu, Xiao and Singh, Harsimran and Liu, Qian and Panzirsch, Michael and Hulin, Thomas and Steinbach, Eckehard, A Novel Energy Compensation Scheme for Quality Enhancement in Time-delayed Teleoperation with Multi-DoF Haptic Data Reduction and Communication, IEEE Transactions on Haptics, accepted, 2021

2020:

• Vogel, Jörn and Leidner, Daniel and Hagengruber, Annette and Panzirsch, Michael and Bäuml, Berthold and Denninger, Maximilian and Hillenbrand, Ulrich and Suchenwirth, Lioba and Schmaus, Peter and Sewtz, Marco and Bauer, Adrian S. and Hulin, Thomas and Iskandar, Maged and Quere, Gabriel and Albu-Schäffer, Alin and Dietrich, Alexander, An Ecosystem for Heterogeneous Robotic Assistants in Caregiving, IEEE Robotics and Automation Magazine, 2020, accepted
• Weber, Bernhard and Panzirsch, Michael and Stulp, Freek and Schneider, Stefan, Sensorimotor Performance and Haptic Support in Simulated Weightlessness, Experimental Brain Research, 2020, accepted
• Singh, Harsimran and Panzirsch, Michael and  Ott, Christian, Proxy-based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25.-29. Oktober, Las Vegas, USA & IEEE Robotics and Automation Letters
• Panzirsch, Michael and Singh, Harsimran and Ott, Christian, The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach with Preservation of Physical Coupling Behavior, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25.-29. Oktober, Las Vegas, USA & IEEE Robotics and Automation Letters

2019:

• Panzirsch, Michael and Ryu, Jee-Hwan and Ferre, Manuel, Reducing the Conservatism of the Time Domain Passivity Approach through Consideration of Energy Reflection in Delayed Coupled Network Systems Reference, in Elsevier Mechatronics, 2019, (58), 58-69.

2018:

• Dietrich, Alexander and Vogel, Jörn and Hagengruber, Annette and Leidner, Daniel and Schmaus, Peter and Mansfeld, Nico and Klodmann, Julian and Bahls, Thomas and Panzirsch, Michael and Suchenwirth, Lioba and Albu-Schäffer, Alin, “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.
• Panzirsch, Michael and Balachandran, Ribin and Weber, Bernhard and Ferre, Manuel and Artigas, Jordi, Haptic Augmentation for Teleoperation through Virtual Grasping Points, IEEE Transactions on Haptics, 2018, 11(3), 400-416.

 

Conference Publications:

2024:

• Pleintinger, Benedikt und Panzirsch, Michael und Stelzer, Martin und Lii, Neal Yi-Sheng und Weber, Bernhard (2024) A research platform for investigating human position sense in altered gravity conditions for space applications and beyond. In i-SAIRAS 2024 International Symposium on Artificial Intelligence, Robotics and Automation in Space, 2024-11-19 - 2024-11-21, Brisbane, Australien.

2022:

• Gauthier Lafruit and Laurie Van Bogart and Jaime Sancho Aragon and Michael Panzirsch and Gregoire Hirt and Klaus Strobl and Eduardo Juarez Martinez, Tele-Robotics VR with Holographic Vision in Immersive Video, First International Workshop on Interactive Extended Reality (IXR), accepted, 2022
• Lii, Neal Yi-Sheng and Schmaus, Peter and Leidner, Daniel and Krueger, Thomas ... and Panzirsch, Michael... and Visentin, Gianfranco und Albu-Schäffer, Alin (2022) Introduction to Surface Avatar: the First Heterogeneous Robotic Team to be Commanded with Scalable Autonomy from the ISS, In Proceedings of the International Astronautical Congress, 73rd International Astronautical Congress (IAC), 18-22 Sep 2022, Paris, France. ISSN 0074-1795.
• Michael Panzirsch and Marek Sierotowicz and Revanth Prakash and Harsimran Singh and Christian Ott, Deflection Domain-Based Passivity Control of Variable Stiffnesses Based On Potential Energy Reference, IEEE Robotics and Automation Letters and ICRA, accepted, 2022

2021:

• Ribin Balachandran, Hrishik Mishra, Michael Panzirsch and Christian Ott, A Finite-gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation, Accepted for ICRA, 2021
• Michael Panzirsch and Harsimran Singh, Position Synchronization Through The Energy-Reflection Based Time Domain Passivity Approach in Position-Position Architectures, IEEE Robotics and Automation Letters and IROS, 2021

2020:

• Krueger, Thomas and Ferreira, Edmundo and Gherghescu, Andrei and Hann, Lukas and den Exter, Emiel and van der Hulst, Frank and Gerdes, Levin and Cencetti, Leonardo and Pereira, Aaron and Singh, Harsimran and Panzirsch, Michael and Hulin, Thomas and Balachandran, Ribin and Weber, Bernhard and Lii, Neal, Designing and Testing a Robotic Avatar for Space-to-Ground Teleoperation: the Developers’ Insights , International Astronautical Congress (IAC), 2020
• Singh, Harsimran and Panzirsch, Michael and  Ott, Christian, Proxy-based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25.-29. Oktober, Las Vegas, USA & IEEE Robotics and Automation Letters
• Panzirsch, Michael and Singh, Harsimran and Ott, Christian, The 6-DoF Implementation of the Energy-Reflection Based Time Domain Passivity Approach with Preservation of Physical Coupling Behavior, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25.-29. Oktober, Las Vegas, USA & IEEE Robotics and Automation Letters
• Sierotowicz, Marek and Weber, Bernhard and Belder, Rico and Bussmann, Kristin and Singh, Harsimran and Panzirsch, Michael, Investigating the influence of haptic feedback in rover navigation with communication delay, Eurohaptics,  6.-9. September, Leiden, Niederlande, accepted
• Xu, Xiao and Panzirsch, Michael and Liu, Quang and Steinbach, Eckehard, Integrating Haptic Data Reduction with Energy Reflection Based Passivity Control for Time-delayed Teleoperation, IEEE Haptics Symposium,  28.-31. März, Washington DC, USA
• Panzirsch, Michael and Singh, Harsimran and Krüger, Thomas and Ott, Christian and Albu-Schäffer, Alin, Safe Interactions and Kinesthetic Feedback in High Performance Earth-To-Moon Teleoperation, IEEE Aerospace Conference,  7.-14. März, Big Sky, USA

2019:

• Panzirsch, Michael and Balachandran, Ribin, Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation, IFAC Workshop on Time Delay Systems,  9.-11. September, Sinaia
• Singh, Harsimran and Panzirsch, Michael and Ryu, Jee-Hwan, Preserving the Physical Coupling in Teleoperation Despite Time Delay through Observer-Based Gradient Control, IFAC Workshop on Time Delay Systems,  9.-11. September, Sinaia

2018:

• Abi-Farraj, Firas and Henze, Bernd and Werner, Alexander and Panzirsch, Michael and Ott, Christian and Roa Garzon, Maximo Alejandro, Humanoid Teleoperation using Task-Relevant Haptic Feedback, IEEE International Conference on Intelligent Robots and Systems, 1.-5. Oktober 2018, Madrid
• Vogel, Jörn and Leidner, Daniel and Hagengruber, Annette and Panzirsch, Michael and Dietrich, Alexander, Das Projekt SMiLE, Clusterkonferenz „Zukunft der Pflege 2018“, 4.-6. Juni 2018, Oldenburg
• Panzirsch, Michael and Singh, Harsimran and Stelzer, Martin and Schuster, Martin J. and Ott, Christian and Ferre, Manuel, Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control, IEEE Intelligent Vehicles Symposium, 26.-30. Juni 2018, Changshu, Suzhou, China

2017:

• Panzirsch, Michael and Balachandran, Ribin and Artigas, Jordi and Riecke, Cornelia and Ferre, Manuel and Albu-Schäffer, Alin, Haptic Intention Augmentation for Cooperative Teleoperation, IEEE International Conference on Robotics and Automation, 29.Mai-3.Juni 2017, Singapur, Singapur
• Panzirsch, Michael and Weber, Bernhard and Rubio, Luis and Coloma, Sofia and Ferre,Manuel and Artigas, Jordi, Tele-Healthcare with Humanoid Robots: A User Study on the Evaluation of Force Feedback Effects, IEEE World Haptics Conference, 6.-9. Juni 2017, Fürstenfeldbruck, Germany

2016:

• Panzirsch, Michael and Hulin, Thomas and Artigas,Jordi and Ott, Christian and Ferre, Manuel, Integrating Measured Force Feedback in Passive Teleoperation, EuroHaptics, 4.-7. Juli 2016, London, UK
• Panzirsch, Michael and Artigas,Jordi and Ferre, Manuel, A modular passivity framework for multilateral teleoperation applications, RoboCity16, 26.-27. Mai 2016, Madrid, Spanien
• Artigas, Jordi and Balachandran, Ribin and deStefano, Marco and Panzirsch, Michael and Lampariello, Roberto and Harder, Jan and Letschnik, Juergen, Teleoperation for On-Orbit Servicing Missions through the ASTRA Geostationary Satellite, IEEE Aerospace Conference 2016, 5.-12. March 2016, Big Sky, USA.

2015:

• Panzirsch, Michael and Balachandran, Ribin and Artigas, Jordi, Cartesian Task Allocation for Cooperative, Multilateral Teleoperation under Time Delay, IEEE International Conference on Robotics and Automation, 26.-30. May 2015, Seattle, USA.
• Panzirsch, Michael, Asymmetric Properties of Multilateral Teleoperation Systems, Workshop on 'Taxonomies of Interconnected Systems: Asymmetric Interactions in Distributed Robotics'.  IEEE International Conference on Robotics and Automation, 26. May 2015, Seattle, USA.
• Panzirsch, Michael and Weber, Bernhard, A 3DoF-Sidestick User Interface for Four Wheel Independent Steering Vehicles, IEEE Intelligent Vehicles Symposium. IV 2015, 28. June - 1. July 2015, Seoul, Korea

2013:

• Panzirsch, Michael and Artigas, Jordi and Ryu, Jee-Hwan and Ferre, Manuel, Multilateral Control for Delayed Teleoperation, IEEE International Conference on Advanced Robotics, 25.-29. Nov. 2013, Montevideo, Uruguay.

2012:

• Panzirsch, Michael and Artigas, Jordi and Tobergte, Andreas, A peer-to-peer Trilateral Passivity Control for delayed collaborative Teleoperation, EuroHaptics, 13-15. Juni 2012, Tampere, Finland.

2011:

• Weber, Bernhard and Panzirsch, Michael and Preusche, Carsten and Deml, Barbara, Der aktive Sidestick als Bedienelement im Elektromobil , Mensch, Technik, Organisation - Vernetzung im Produktentstehungs- und -herstellungsprozess, pp. 473-476. GfA Press. 57. Kongress der Gesellschaft für Arbeitswissenschaft, 23.-25. März 2011, Chemnitz.
• Montoya Zamarron, Silvia and Panzirsch, Michael, Development of a third rotational input on a force feedback joystick, Diploma Thesis, DLR Oberpfaffenhofen.
• Weber, Bernhard and Panzirsch, Michael and Montoya-Zamarron, Silvia and Preusche, Carsten and Deml, Barbara, Evaluation zweier Bedienkonzepte zur Steuerung eines Fahrzeugs mit drei Bewegungsfreiheitsgraden, Ergonomie im interdisziplinären Gestaltungsprozess (DGLR-Bericht 2011-01). DGLR.

Other Scientific Work:

2016:

• Ritzer, Peter and Panzirsch, Michael and Brembeck Jonathan, Robotisch bewegt - Interaktive Fahrdynamik-Bewegungssimulation, dSpace Magazin, 1, 2016, (https://www.dspace.com/shared/data/pdf/2016/dSPACE-Magazin-2016-01_Gesamt-pdf_160427_D.pdf)

2010:

• Panzirsch, Michael, Trilaterale Regelung für einen Telechirurgietrainer , Diplomarbeit, DLR Oberpfaffenhofen.

Book Chapter:

• Eckehard Steinbach, Shu-Chen Li, Başak Güleçyüz, Rania Hassen, Thomas Hulin, Lars Johannsmeier, Evelyn Muschter, Andreas Noll, Michael Panzirsch, Harsimran Singh, Xiao Xu, Haptic codecs for the Tactile Internet, Tactile Internet, ISBN 978-0-12-821343-8, 2021

• Passive Coupling Reference: Verfahren zur Stabilisierung eines haptischen Teleoperationssystems mit benutzerdefiniertem Haptik-Feedback-Regler DE 10 2022 107 130 B4

• Panzirsch, Michael and Singh, Harsimran and Xu, Xiao and Dietrich, Alexander and Hulin, Thomas and Steinbach, Eckehard and Albu-Schaeffer, Alin, Enhancing the Force Transparency of the Energy-Reflection Based Time Domain Passivity Approach, IEEE Transactions on Control Systems Technology, accepted, 2024