Staff

DLR German Aerospace Center
Institute of Robotics and Mechatronics

• Haptics and Teleoperation
• Time Delayed Systems
• Robot Control and Stability
• Shared Control

• ARCAS (European Union Project on aerial inspection and maintenance)
• Aeroarms (European Union Project on aerial inspection and maintenance)
• Kontur-2 (Teleoperation from the International Space Station)
• OOS-Sim (Teleoperation for On-Orbit Servicing of satellites)
• Care-O-bot (Telenavigation and manipulation of service robots for elderly care)
• SpaceFactory 4.0 (Robotic assembly of satellites in space orbits)
• AI in SpaceFactory (Robotic assembly of satellites in space orbits)

• Kontroll-Netzwerk mit einem haptischen Eingabemittel (DE102014004115 B3)
• Adaptive Authority Allocation in Shared Control based on sensor measurement noise (Submitted)
• Passive Coupling Reference Approach for user-defined feedback stability in haptics and teleoperation (DE102022107130 B4)
• System and control concept for physical human-robot-interaction in medical applications. (Submitted)

• [C39] Neal Yi-Sheng Lii, Peter Schmaus, Daniel Leidner, Thomas Krueger, Jessica Grenouilleau, Aaron Pereira, Angelo Giuliano, Adrian Simon Bauer, Anne Köpken, Florian Samuel Lay, Marco Sewtz, Nicolai Bechtel, Samuel Bustamante Gomez, Maximilian Denninger, Werner Friedl, Jörg Butterfass, Edmundo Ferreira, Andrei Gherghescu, Thibaud Chupin, Emiel den Exter, Levin Gerdes, Michael Panzirsch, Harsimran Singh, Ribin Balachandrand, Thomas Hulin, Thomas Gumpert, Annika Schmidt, Daniel Seidel, Milan Hermann, Maximilian Maier, Robert Burger, Florian Schmidt, Bernhard Weber, Ralph Bayer, Benedikt Pleintinger, Roman Holderried, Pedro Henrique Pavelski, Armin Wedler, Stefan von Dombrowski, Hansjörg Maurer, Martin Görner, Tilo Wüsthoff, Serena Bertone, Thomas Müller, Gerd Söllner, Christian Ehrhardt, Lucia Brunetti, Linda Holl, Mairead Bévan, Robert Muehlbauer, Gianfranco Visentin, Alin Albu-Schäffer. Introduction to Surface Avatar: the First Heterogeneous Robotic Team to be Commanded with Scalable Autonomy from the ISS. Proceedings of the International Astronautical Congress, IAC 2022.
• [J38] Hyeonseok Choi, Ribin Balachandran, Jee-Hwan Ryu, Chattering-Free Time Domain Passivity Approach, IEEE Transactions on Haptics, 2022
• [J37] Michael Panzirsch, Aaron Pereira, Harsimran Singh, Bernhard Weber, Edmundo Ferreira, Andrei Gherghescu, Lukas Hann, Emiel den Exter, Frank van der Hulst, Levin Gerdes, Leonardo Cencetti, Kjetil Wormnes, Jessica Grenouilleau, William Carey, Ribin Balachandran, Thomas Hulin, Christian Ott, Daniel Leidner, Alin Albu-Schäffer, Neal Y Lii, Thomas Krüger. Exploring planet geology through force-feedback telemanipulation from orbit, Science Robotics, 65 (7), 2022

• [C36] Thomas Dasbach, Martin Wende, Reiner Anderl, Maximiliam Mühbauer, Thomas Hulin, Ribin Balachandran, Florian Kempf, Florian Leutert, Klaus Schilling, Alin Albu-Scaheffer, AI-In-Orbit-Factory -- AI approaches for adaptive robotic in-orbit manufacturing of modular satellites International Astronautical Congress
• [J35] Hrishik Mishra, Ribin Balachandran, Marco De Stefano, Christian Ott, A Partitioned Shared Control Strategy for Interaction-oriented End-effector Tasks using an Orbital Robot, Accepted for IEEE IROS-RAL, 2021
• [C34] Andre Coelho, Yuri Sarkisov, Jongseok Lee, Ribin Balachandran, Antonio Franchi, Konstantin Kondak, Christian Ott, Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View, International Conference on Unmanned Aircraft Systems (ICUAS), 2021
• [J33] Thomas Hulin, Michael Panzirsch, Harsimran Singh, Andre Coelho, Ribin Balachandran, Aaron Pereira, Bernhard M. Weber, Nicolai Bechtel, Cornelia Riecke, Bernhard Brunner, Neal Y. Lii, Julian Klodmann, Anja Hellings, Katharina Hagmann, Gabriel Quere, Adrian S. 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, Accepted for Frontiers in Robotics and AI, 2021
• [C32] 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
• [J31] Ribin Balachandran, Michael Panzirsch, Marco De Stefano, Harsimran Singh, Christian Ott and Alin Albu-Schaeffer, Stabilization of User-defined Feedback Controllers in Teleoperation with Passive Coupling Reference. Accepted for IEEE Robotics and Automation-Letters, 2021

• [C30]  Thomas Krueger, Edmundo Ferreira, Andrei Gherghescu, Lukas Hann,  Emiel den Exter,  Frank van der Hulst, Levin Gerdes, Leonardo Cencetti,  Aaron Pereira, Harsimran Singh, Michael Panzirsch, Thomas Hulin, Ribin Balachandran, Bernhard Weber and Neal Lii, Designing and testing a robotic avatar for space-to-ground teleoperation: the developers’ insights. International Astronautical Congress (IAC), 2020
• [C29] Ribin Balachandran, Hrishik Mishra, Matteo Cappelli, Bernhard Weber, Cristian Secchi, Christian Ott, Alin Albu-Schäffer, Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters. IEEE International Conference on Robotics and Automation (ICRA), Paris, 2020
• [C28] Ribin Balachandran, Jee-Hwan Ryu, Mikael Jorda, Christian Ott, Alin Albu-Schäffer, Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation, IEEE International Conference on Robotics and Automation (ICRA), Paris, 2020
• [C27] Jongseok Lee, Ribin Balachandran, Yuri Sarkisov, Marco De Stefano, Andre Coelho, Kashmira Shinde, Min Jun Kim, Rudolph Triebel, Konstantin Kondak, Visual-Inertial Telepresence for Aerial Manipulation, IEEE International Conference on Robotics and Automation (ICRA), Paris, 2020
• [C26] Cornelia Riecke, Bernhard Weber, Maximilian Maier, Martin Stelzer, Ribin Balachandran, Alexander Kondratiev, Andrey Vasiliev, Aleksei Sergeev, Vladimir Dubinin and Olga Rudakova, Kontur-3: Human Machine Interfaces for Telenavigation and Manipulation of Robots from ISS, IEEE Aerospace Conference, Montana, 2020

• [C25] Michael Panzirsch and Ribin Balachandran, Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation, IFAC Workshop on Time Delay Systems, 9.-11. September, Sinaia
• [J24] Marco De Stefano, Ribin Balachandran and Cristian Secchi, A Passivity-based Approach for Simulating Satellite Dynamics with Robots: Time Delay and Discretization Effects, IEEE Transactions on Robotics (T-RO), Sept. 2019
•  [J23] Marco De Stefano, Hrishik Mishra, Ribin Balachandran, Roberto Lampariello, Christian Ott, and Cristian Secchi. Multi-rate Tracking Control for a Space Robot on a Controlled Satellite: a Passivity-based Strategy, IEEE Robotics and Automation Letters (RA-L), pp. 1319-1326, 10.1109/LRA.2019.2895420, 2019
•  [C22] Bernhard Weber, Ribin Balachandran, Cornelia Riecke, Freek Stulp and Martin Stelzer, Teleoperating Robots from the International Space Station: Microgravity Effects on Performance with Force Feedback. International Conference on Intelligent Robots and Systems (IROS) 2019, Macau, China.

• [C21] Thiago Weber Martins, Aaron Pereira, Thomas Hulin, Oliver Ruf, Stefan Kugler, Alessandro M.
  Giordano, Ribin Balachandran, Fabian Benedikt, John Lewis, Reiner Anderl, Klaus Schilling, Alin
  Albu-Schäffer, Space Factory 4.0 - New processes for the robotic assembly of modular satellites on an in-orbit platform based on „Industrie 4.0” approach, 69th International Astronautical Congress (IAC), Bremen, Germany, 1-5 October 2018.
• [C20] Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott, Passive Compliance Control of Aerial Manipulators, IEEE/RSJ International Conference on Intelligent Robot and System (IROS), Madrid, Spain, 2018
• [J19] Bernd Henze, Ribin Balachandran, Maximo A. Roa, Christian Ott, Alin Albu-Schäffer, Passivity Analysis and Control of Humanoid Robots on Movable Ground, IEEE/RSJ International Conference on Intelligent Robot and System (IROS), Madrid, Spain, 2018 and IEEE RA-L
• [C18] Andre Coelho, Harsimran Singh, Tin Muskardin, Ribin Balachandran, Konstantin Kondak, Smoother Position-Drift Compensation for Time Domain Passivity Approach based Teleoperation, IEEE/RSJ International Conference on Intelligent Robot and System (IROS), Madrid, Spain, 2018
• [J17] Anibal Ollero, Guillermo Heredia, Antonio Franchi, Gianluca Antonelli, Konstantin Kondak, Alberto Sanfeliu, Antidio Viguria, Jose Ramiro Martinez-de-Dios, Francesco Pierri, Juan Cortes, Angel Santamaria-Navarro, Miguel Angel Trujillo Soto, Ribin Balachandran, Juan Andrade-Cetto, Angel Rodriguez Castaño, Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance: the AEROARMS Project, IEEE Robotics and Automation Magazine
• [C16] Ribin Balachandran, Natalia Kozlova, Christian Ott Alin Albu-Schaeffer, Non-linear Local Force Feedback for haptic Interfaces, IFAC Symposium on Robot Control SYROCO, Budapest, August 2018
• [J15] Michael Panzirsch, Ribin Balachandran, Bernhard Weber, Manuel Ferre, Jordi Artigas, Haptic Augmentation for Teleoperation through Virtual Grasping Points, IEEE Transactions on Haptics, 2018
• [C14] Marco De Stefano, Ribin Balachandran, Alessandro Giordano, Cristian Secchi, An energy-based Approach for the Multi-Rate Control of a Manipulator on an Actuated Base, IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia pp. -, May 2018.

• [C13] Mikael Jorda, Ribin Balachandran, Jee-Hwan Ryu and Oussama Khatib, New Passivity Observers for Improved Robot Force Control , IEEE/RSJ International Conference on Intelligent Robot and System (IROS), Vancouver, Canada, 2017
• [C12] Ribin Balachandran, Mikael Jorda, Jordi Artigas, Jee-Hwan Ryu and Oussama Khatib, Passivity Based Stability in Explicit Force Control of Robots, International Conference on Robotics and Automation, 29.May-3.June 2017, Singapore, Singapore.
• [C11] Michael Panzirsch, Ribin Balachandran,Jordi Artigas,Cornelia Riecke, Manuel Ferre and Alin Albu-Schäffer, Haptic Intention Augmentation for Cooperative Teleoperation, International Conference on Robotics and Automation, 29.May-3.June 2017, Singapore, Singapore.
• [C10] Marco De Stefano, Ribin Balachandran, Jordi Artigas, Cristian Secchi   Reproducing Physical Dynamics with Hardware-in-the-loop Simulators: A Passive and Explicit Discrete Integrator, International Conference on Robotics and Automation, 29.May-3.June 2017, Singapore, Singapore.

• [C9]Ribin Balachandran, Jordi Artigas, Usman Mehmood, Jee-Hwan Ryu, Performance comparison of Wave Variable Transformation and Time Domain Passivity Approaches for time-delayed teleoperation: Preliminary results, in Proc.of the 2016 IEEE/RSJ International Conference on Intelligent Robot and System (IROS), Daejeon, Korea, pp.5419-5426, 
• [C8]Jordi Artigas, Ribin Balachandran, Cornelia Riecke, Martin Stelzer, Bernhard Weber, Jee-Hwan Ryu, Alin Albu-Schaeffer, KONTUR-2: force-feedback teleoperation from the international space station, International Conference on Robotics and Automation, 2016, Sweden.
• [C7] Cornelia Riecke, Jordi Artigas, Ribin Balachandran, Ralph Bayer, Alexander Beyer, Bernhard Brunner, Johann Buchner, Thomas Gumpert, Robin Gruber, Franz Hacker, Klaus Landzettel, Georg Plank, Simon Schätzle, Hans-Jürgen Sedlmayr, Nikolaus Seitz, BM Steinmetz, Martin Stelzer, Jörg Vogel, Bernhard Weber, Bertram Willberg, Alin Olimpiu Albu-Schäffer, Kontur-2 mission: the DLR force feedback joystick for space telemanipulation from the ISS, iSAIRAS International Symposium on Artificial Intelligence, Robotics and Automation in Space 2016, Beijing, China.
• [C6]Jordi Artigas, Ribin Balachandran, Marco De Stefano, Michael Panzirsch, Jan Harder, Juergen Letschnik, Roberto Lampariello, Alin Albu-Schaeffer, Teleoperation for On-Orbit Servicing Missions through the ASTRA Geostationary Satellite, in Proc. of the 2016 IEEE Aerospace Conference, Big Sky, Montana, US