Alexander Dietrich

Best Publications

• An overview of null space projections for redundant, torque-controlled robots

  Alexander Dietrich;Christian Ott;Alin Albu-Schäffer

  233
  Citations

• Prioritized multi-task compliance control of redundant manipulators

  Christian Ott;Alexander Dietrich;Alin Albu-Schäffer

  166
  Citations

• Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom

  A. Dietrich;T. Wimbock;Alin Albu-Schaffer;G. Hirzinger

  130
  Citations

• Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy

  A. Dietrich;T. Wimbock;A. Albu-Schaffer;G. Hirzinger

  101
  Citations

• Catching flying balls and preparing coffee: Humanoid Rollin'Justin performs dynamic and sensitive tasks

  Berthold Bauml;Florian Schmidt;Thomas Wimbock;Oliver Birbach

  99
  Citations

• Whole-body impedance control of wheeled mobile manipulators

  Alexander Dietrich;Kristin Bussmann;Florian Petit;Paul Kotyczka

  94
  Citations

• Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots

  Alexander Dietrich;Christian Ott

  92
  Citations

• An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots

  Bernd Henze;Alexander Dietrich;Christian Ott

  75
  Citations

• Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws

  Alexander Dietrich;Thomas Wimbock;Alin Albu-Schaffer

  71
  Citations

• Object-Centered Hybrid Reasoning for Whole-Body Mobile Manipulation

  Daniel Leidner;Alexander Dietrich;Florian Schmidt;Christoph Hermann Borst

  66
  Citations

• Generalizing Torque Control Concepts: Using Well-Established Torque Control Methods on Variable Stiffness Robots

  Florian Petit;Alexander Dietrich;Alin Albu-Schaffer

  58
  Citations

• Hybrid Force-Impedance Control for Fast End-Effector Motions

  Unknown

  57
  Citations

• Experimental comparison of slip detection strategies by tactile sensing with the BioTac ® on the DLR hand arm system

  Jens Reinecke;Alexander Dietrich;Florian Schmidt;Maxime Chalon

  49
  Citations

• Catching flying balls with a mobile humanoid: System overview and design considerations

  Berthold Bauml;Oliver Birbach;Thomas Wimbock;Udo Frese

  47
  Citations

• Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability

  Alexander Dietrich;Christian Ott;Alin Albu-Schaffer

  46
  Citations

• Passive Hierarchical Impedance Control Via Energy Tanks

  Alexander Dietrich;Xuwei Wu;Kristin Bussmann;Christian Ott

  45
  Citations

• Extensions to reactive self-collision avoidance for torque and position controlled humanoids

  Alexander Dietrich;Thomas Wimbock;Holger Taubig;Alin Albu-Schaffer

  43
  Citations

• On continuous null space projections for torque-based, hierarchical, multi-objective manipulation

  Alexander Dietrich;Alin Albu-Schaffer;Gerd Hirzinger

  34
  Citations

• Knowledge-enabled parameterization of whole-body control strategies for compliant service robots

  Daniel Leidner;Alexander Dietrich;Michael Beetz;Alin Albu-Schäffer

  33
  Citations

• Whole-Body Impedance Control of Wheeled Humanoid Robots

  Alexander Dietrich

  22
  Citations