Publications



  1. T. Wimböck, Ch. Ott, and G. Hirzinger: Impedance Behaviors for Two-handed Manipulation: Design and Experiments,  Proceedings of IEEE International Conference on Robotics and Automation, 2007, Roma/Italy.
  2. G. Palli, C. Melchiorri, T. Wimböck, M. Grebenstein, and G. Hirzinger: Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints, Proceedings of IEEE International Conference on Robotics and Automation, 2007, Roma/Italy.
  3. Ch. Ott, O. Eiberger, W. Friedl, B. Bäuml, U. Hillenbrand, Ch. Borst, A. Albu-Schäffer, B. Brunner, H. Hirschmüller, S. Kielhöfer, R. Konietschke, M. Suppa, T. Wimböck, F. Zacharias, and G. Hirzinger: A Humanoid Two-Arm System for Dexterous Manipulation,  Proceedings of IEEE-RAS International Conference on Humanoid Robots, Genova/Italy, 2006, pp. 276-283.
  4. T. Wimböck, Ch. Ott, and G. Hirzinger: Passivity-Based Object-Level Impedance Control for a Multifingered Hand, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems 2006, Beijing/China.
  5. Butterfass, J.; Fischer, M.; Grebenstein, M.; Haidacher, S. and Hirzinger, G.: Design and Experiences with DLR Hand II, Proceedings of the World Automation Congress 2004, Seville, Spain, 2004.
  6. Hirzinger, G.; Sporer, N.; Schedl, M.; Butterfass, J.; Grebenstein, M.: Torque-controlled Lightweight Arms and Articulated Hands: Do We Reach Technological Limits now?, The International Journal of Robotics and Research, Vol. 23, No. 4-5, 2004.
  7. Ch. Borst, M. Fischer and G. Hirzinger: Grasp Planning: How to Choose a Suitable Task Wrench Space, Proceedings of the IEEE Intl. Conference on Robotics and Automation (ICRA), New Orleans, USA, 2004.
  8. Haidacher, S.; Hirzinger, G.: Position Sensors for Robotic-Hand Grasping, SPIE Technical Group Newsletter: Robotics And Machine Perception, Vol. 13 No. 1, 2004.
  9. He P.; Jin M.H.; Yang L.; Wei R.; Liu Y.W.; Cai H.G.; Liu H.; Seitz N.; Butterfass J.; Hirzinger G.: High Performance DSP/FPGA Controller for Implementation of HIT/DLR Dexterous Robot Hand, Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, 2004.
  10. Hu H.Y.; Gao X.H.; Li J.W.; Wang J.; Liu H.: Calibrating Human Hand for Teleoperating the HIT/DLR Hand, Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, 2004.
  11. Borst, Ch.; Fischer, M.; Hirzinger, G.: Grasping the Dice by Dicing the Grasp, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA, 2003.
  12. Haidacher, S.; Butterfass, J.; Fischer, M.; Grebenstein, M. et al.: DLR Hand II: Hard- and Software Architecture for Information Processing, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, 2003.
  13. Gao, X.H., Jin, M.H., Liu, H; Butterfass, J.; Hirzinger, G.; et al.: The HIT/DLR Dexterous Hand: Work in Progress, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, 2003.
  14. Haidacher, S.; Hirzinger, G.: Estimating Finger Contact Location and Object Pose from Contact Measurements in 3-D Grasping, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, 2003.
  15. Borst, Ch.; Fischer, M.; Haidacher, S.; Liu, H.; Hirzinger, G.: DLR Hand II: Experiments and Experiences with an Anthropomophic Hand, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, 2003.
  16. Li Jia-Wei; Jin Ming-He; Liu, H.: A New Algorithm for Three-finger Force-closure Grasp of Polygonal Objects, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, 2003.
  17. Biagiotti, L.; Liu, H.; Hirzinger, G.; Melchiorri C.: Cartesian Impedance Control for Dexterous Manipulation, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA, 2003.
  18. Hirzinger, G., Brunner, B., Landzettel, K., Sporer, N., Butterfaß, J., et al.: Space robotics - DLR's Telerobotic Concepts, Lightweight Arms and Articulated Hands, Autonomous Robots, Kluwer Academic Publishers, The Netherlands, Vol. 14, 2003.
  19. Borst, Ch.; Fischer, M.; Hirzinger, G.: Calculating Hand Configurations for Precision and Pinch Grasps, Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 2002.
  20. Hirzinger, G., Sporer, N., Butterfaß, J., Schedl, M., Grebenstein, M., et al.: Eine neue Generation von Leichtbau-Robotern mit mehrfingrigen Händen, ROBOTIK 2002, Forum am Schlosspark, Ludwigsburg, VDI, 2002.
  21. Hirzinger, G., Sporer, N., Schedl, M., Butterfaß, J., Grebenstein, M.: Robotics and Mechatronics in Aerospace, Proceedings of the 7th International Workshop on Advanced Motion Control (AMC), Maribor, Slovenia, 2002.
  22. Hirzinger, G., Sporer, N., Schedl, M., Butterfaß, J., Grebenstein, M.: Torque-controlled light weight arms and articulated hands - do we reach technological limits now?, Proceedings of the 8th International Symposium on Experimental Robotics (ISER'02), Sant'Angelo d'Ischia, Italy, 2002.
  23. Haidacher, S.; Hirzinger, G.: Contact Point Identification in Multi-Fingered Grasps Exploiting Kinematic Constraints, In Proceedings of International Conference on Robotics and Automation ICRA2002, 2002.
  24. Hirzinger, G.; Brunner, B.; Butterfaß, J.; Fischer, M.; Grebenstein, M.; Landzettel, K.: Space Robotics – Towards Advanced Mechatronic Components and Powerful Telerobotic Systems, In Proceedings of the 6th Int. Symposium on Artificial Intelligence, Robotics and Automation in Space SAIRAS, Montreal, Canada, 2001.
  25. Butterfaß, J.; Grebenstein, M.; Liu, H.; Hirzinger, G.: DLR-Hand II: Next Generation of a Dextrous Robot Hand, Proceedings of the 2001 IEEE Int. Conference on Robotics and Automation, Seoul, Korea, 2001.
  26. Frese, U.; Bäuml, B.; Haidacher, S.; Schreiber, G.; Schäfer, I.; Hähnle, M.; Hirzinger, G.: Off-the-Shelf Vision for a Robotic Ball Catcher, Proceedings of International Conference on Intelligent Robots and Systems IROS2001,2001.
  27. Hirzinger, G., Butterfaß, J., Grebenstein, M., Schaefer, I., Sporer, N., et al.: Space Robotics - Driver for a New mechatronic Generation of Light-weight Arms and Multifingered Hands, Proceedings of the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'01), Como, Italy, 2001.
  28. Hirzinger, G., Butterfaß, J., Grebenstein, M., Hähnle, M., Schaefer, I., et al.: Robonauts Need Light-Weight Arms and Articulated Hands, Harmonic Drive International Symposium, Matsumoto, Nagano, Japan, 2001.
  29. Hirzinger, G., et al.: Space Robotics - DLR's Telerobotic Concepts, Lightweight Arms and Articulated Hands, Proceedings of the 10th International Conference on Advanced Robotics (ICAR2001), Budapest, Hungary, 2001.
  30. Liu, H.; Butterfass, J.; Grebenstein, M.; Hirzinger, G.: DLR Multisensory Articulated Hand I and II, Proceedings of the International Workshop on Bio-Robotics and Teleoperation, Beijing, P. R. China, 2001.
  31. Hirzinger, G., Butterfaß, J., Fischer, N., Grebenstein, M., Hähnle, M., et al.: A New Generation of Light-weight Robot Arms and Multifigered Hands, ISER 2000, International Symposium on Experimental Robotics, Hawaii, USA, 2000.
  32. Hirzinger, G.; Butterfaß, J.; Grebenstein, M.; Hähnle, M.; Schäfer, I.; Sporer, N.: Robonauts Need Light-Weight Arms and Articulated Hands, Proceedings ofthe 6th ESA Workshop on ASTRA, Noordwijk, Netherlands, 2000.
  33. Hirzinger, G., Butterfaß, J., Grebenstein, M., Hähnle, M., Schäfer, I., et al.: A Mechatronics Approach to the Design of Light-Weight Arms, Proceedings of the 9th Intl. Workshop on Robotics in Alpe-Adria-Danube Region, Maribor, Slovenia, 2000.
  34. Hirzinger, G.; Butterfaß, J.; Fischer, M.; Grebenstein, M.; Hähnle, M.; Liu, H.; Schäfer, I.; Sporer, N.: A Mechatronic Approach to the Design of Ligth-Weigth Arms and Multifingered Hands, Proceedings of the IEEE Intl. Conference on Robotics and Automation, San Francisco, USA, 2000, selected as one of five finalists for the ICRA'00 Best Paper Award.
  35. Butterfaß, J.: Eine hochintegrierte multisensorielle Vier-Finger-Hand für Anwendungen in der Servicerobotik, (ISBN 3-8265-7295-5), Dissertation, Shaker Verlag, Aachen, Germany, 2000.
  36. Ch. Borst, M. Fischer, G. Hirzinger: A fast and robust grasp planner for arbitrary 3d objects, In Proceedings of the IEEE Intl. Conf. on Robotics and Automation (ICRA), Detroit, USA,1999.
  37. Hirzinger, G.; Butterfaß, J.; Liu, H.: Die 4-fingrige DLR-Hand, Technik in Bayern, Nr. 3, 1999.
  38. Liu, H.; Butterfaß, J.; Knoch, S.; Meusel, P.; Hirzinger, G.: A New Control Strategy for DLR's Multisensory Articulated Hand, Control Systems, Vol. 19, No. 2, April 1999.
  39. Hirzinger, G.; Butterfaß, J.; Knoch, S.; Liu, H.: DLR's Multisensory 4-Fingered Hand, Proceedings of the 6th IEEE Mediterranean Conference on Control and Systems, Alghero, Italy, 1998.
  40. Butterfaß, J.; Hirzinger, G.; Knoch, S.; Liu, H.: DLR's Multisensory Hand Part I: Hard- and Software Architecture, Proceedings of the IEEE Int. Conf. on Robotics and Automation, Leuven, Belgium, 1998.
  41. Liu, H.; Meusel, P.; Butterfaß, J.; Hirzinger, G.: DLR's Mulitsensory Articulated Hand Part II: The Parallel Torque/Position Control System, Proceedings of the IEEE Int. Conference on Robotics and Automation, Leuven, Belgium, 1998.
  42. Hirzinger, G.; Butterfaß, J.; Knoch, S.; Liu, H.: DLR's Mulitsensory Articulated Hand, 5th International Symposium on Experimental Robotics, Barcelona, 1997, in Casales, A.; de Almeida, A. T. (Eds): Eperimental Robotics V, Lecture Notes in Control and Information Sciences 232, Springer Verlag, 1998.
  43. Fischer, M.; Hirzinger, G.: Fast Planning of Precision Grasps for 3D Objects, Proceedings of IEEE/RSJ Conference on Intelligent Robots and Systems, Grenoble, 1997.
  44. H. Liu , P. Meusel, and G. Hirzinger, A Tactile Sensing System for the DLR Three Finger Robot Hand, ISMCR, 1995.

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Downloads zu diesem Artikel
Impedance Behaviors for Two-handed Manipulation: Design and Experiments (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/ImpedanceBehaviors.pdf)
Passivity-based Object-Level Impedance Control for a Multifingered Hand (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/ObjImp.pdf)
Design and Experiences with DLR Hand II (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/isora028.pdf)
Grasp Planning: How to Choose a Suitable Task Wrench Space (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2004grasp.pdf)
High Performance DSP/FPGA Controller for Implementation of HIT/DLR Dexterous Robot Hand (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2004fpga.pdf)
Calibrating Human Hand for Teleoperating the HIT/DLR Hand (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2004calib.pdf)
Grasping the Dice by Dicing the Grasp (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/iros2003dice.pdf)
DLR Hand II: Hard- and Software Architecture for Information Processing (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2003contr.pdf)
The HIT/DLR Dexterous Hand: Work in Progress (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2003hitdlr.pdf)
Estimating Finger Contact Location and Object Pose from Contact Measurements in 3-D Grasping (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2003obj.pdf)
DLR Hand II: Experiments and Experiences with an Anthropomophic Hand (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2003appl.pdf)
A New Algorithm for Three-finger Force-closure Grasp of Polygonal (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2003hitalg.pdf)
Cartesian Impedance Control for Dexterous Manipulation (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/iros2003cart.pdf)
Calculating Hand Configurations for Precision and Pinch Grasps (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/iros2002calc.pdf)
Contact Point Identification in Multi-Fingered Grasps Exploiting Kinematic Constraints (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2002contact.pdf)
Space Robotics – Towards Advanced Mechatronic Components and Powerful Telerobotic Systems (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/i-sairas2001.pdf)
DLR-Hand II: Next Generation of a Dextrous Robot Hand (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2001next.pdf)
Off-the-Shelf Vision for a Robotic Ball Catcher (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/iros2001ball.pdf)
A Mechatronic Approach to the Design of Ligth-Weigth Arms and Multifingered Hands (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra2000approach.pdf)
A fast and robust grasp planner for arbitrary 3d objects (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra99robust.pdf)
DLR's Multisensory Hand Part I: Hard- and Software Architecture (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra98part1.pdf)
DLR's Mulitsensory Articulated Hand Part II: The Parallel Torque/Position Control System (http://www.dlr.de/rm/en/Portaldata/52/Resources/dokumente/hand/icra98part2.pdf)