Thomas Wimböck

Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Gerd Hirzinger: Comparison of object-level grasp controllers for dynamic dexterous manipulation. I. J. Robotic Res. 31(1): 3-23 (2012)

Markus Grebenstein, Maxime Chalon, Werner Friedl, Sami Haddadin, Thomas Wimböck, Gerd Hirzinger, Roland Siegwart: The hand of the DLR Hand Arm System: Designed for interaction. I. J. Robotic Res. 31(13): 1531-1555 (2012)

Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger: Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom. IEEE Robot. Automat. Mag. 19(2): 20-33 (2012)

Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger: Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy. IEEE Transactions on Robotics 28(6): 1278-1293 (2012)

Thomas Wimböck, Jens Reinecke, Maxime Chalon: Derivation and verification of synergy coordinates for the DLR hand arm system. CASE 2012: 454-460

Domenico Prattichizzo, Monica Malvezzi, Marco Aggravi, Thomas Wimböck: Object motion-decoupled internal force control for a compliant multifingered hand. ICRA 2012: 1508-1513

Zhaopeng Chen, Neal Y. Lii, Thomas Wimböck, Shaowei Fan, Hong Liu: Experimental Evaluation of Cartesian and Joint Impedance Control with Adaptive Friction Compensation for the Dexterous Robot Hand DLR-Hit II. I. J. Humanoid Robotics 8(4): 649-671 (2011)

Berthold Bäuml, Oliver Birbach, Thomas Wimböck, Udo Frese, Alexander Dietrich, Gerd Hirzinger: Catching flying balls with a mobile humanoid: System overview and design considerations. Humanoids 2011: 513-520

Maxime Chalon, Armin Wedler, Andreas Baumann, Wieland Bertleff, Alexander Beyer, Jörg Butterfaß, Markus Grebenstein, Robin Gruber, Franz Hacker, Erich Krämer, Klaus Landzettel, Maximilian Maier, Hans-Juergen Sedlmayr, Nikolaus Seitz, Fabian Wappler, Bertram Willberg, Thomas Wimböck, Gerd Hirzinger, Frederic Didot: Dexhand: A Space qualified multi-fingered robotic hand. ICRA 2011: 2204-2210

Markus Grebenstein, Alin Albu-Schäffer, Thomas Bahls, Maxime Chalon, Oliver Eiberger, Werner Friedl, Robin Gruber, Sami Haddadin, Ulrich Hagn, Robert Haslinger, Hannes Hoppner, Stefan Jörg, Mathias Nickl, Alexander Nothhelfer, Florian Petit, Josef Reill, Nikolaus Seitz, Thomas Wimböck, Sebastian Wolf, Tilo Wüsthoff, Gerd Hirzinger: The DLR hand arm system. ICRA 2011: 3175-3182

Berthold Bäuml, Florian Schmidt, Thomas Wimböck, Oliver Birbach, Alexander Dietrich, Matthias Fuchs, Werner Friedl, Udo Frese, Christoph Borst, Markus Grebenstein, Oliver Eiberger, Gerd Hirzinger: Catching flying balls and preparing coffee: Humanoid Rollin'Justin performs dynamic and sensitive tasks. ICRA 2011: 3443-3444

Alexander Dietrich, Thomas Wimböck, Holger Täubig, Alin Albu-Schäffer, Gerd Hirzinger: Extensions to reactive self-collision avoidance for torque and position controlled humanoids. ICRA 2011: 3455-3462

Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer, Gerd Hirzinger: Singularity avoidance for nonholonomic, omnidirectional wheeled mobile platforms with variable footprint. ICRA 2011: 6136-6142

Thomas Wimböck, Benjamin Jahn, Gerd Hirzinger: Synergy level impedance control for multifingered hands. IROS 2011: 973-979

Alexander Dietrich, Thomas Wimböck, Alin Albu-Schäffer: Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws. IROS 2011: 3199-3206

Maxime Chalon, Werner Friedl, Jens Reinecke, Thomas Wimböck, Alin Albu-Schäffer: Impedance control of a non-linearly coupled tendon driven thumb. IROS 2011: 4215-4221

Thomas Wimböck, Christoph Borst, Alin Albu-Schäffer, Christian Ott, Florian Schmidt, Matthias Fuchs, Werner Friedl, Oliver Eiberger, Andreas Baumann, Alexander Beyer, Gerd Hirzinger: DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung (DLR's Two-Handed Humanoid Justin: System Design, Integration and Control). Automatisierungstechnik 58(11): 622-629 (2010)

Thomas Wimböck, Christian Ott, Gerd Hirzinger: Immersion and invariance control for an antagonistic joint with nonlinear mechanical stiffness. CDC 2010: 1128-1135

Maxime Chalon, Thomas Wimböck, Gerd Hirzinger: Torque and workspace analysis for flexible tendon driven mechanisms. ICRA 2010: 1175-1181

Berthold Bäuml, Thomas Wimböck, Gerd Hirzinger: Kinematically optimal catching a flying ball with a hand-arm-system. IROS 2010: 2592-2599

Zhaopeng Chen, Neal Y. Lii, Thomas Wimböck, Shaowei Fan, Minghe Jin, Christoph Borst, Hong Liu: Experimental study on impedance control for the five-finger dexterous robot hand DLR-HIT II. IROS 2010: 5867-5874

Maxime Chalon, Markus Grebenstein, Thomas Wimböck, Gerd Hirzinger: The thumb: guidelines for a robotic design. IROS 2010: 5886-5893

Christoph Borst, Thomas Wimböck, Florian Schmidt, Matthias Fuchs, Bernhard Brunner, Franziska Zacharias, Paolo Robuffo Giordano, Rainer Konietschke, Wolfgang Sepp, Stefan Fuchs, Christian Rink, Alin Albu-Schäffer, Gerd Hirzinger: Rollin' Justin - Mobile platform with variable base. ICRA 2009: 1597-1598

Philipp Kremer, Thomas Wimböck, Jordi Artigas, Simon Schätzle, Klaus Jöhl, Florian Schmidt, Carsten Preusche, Gerd Hirzinger: Multimodal telepresent control of DLR's Rollin' JUSTIN. ICRA 2009: 1601-1602

Matthias Fuchs, Christoph Borst, Paolo Robuffo Giordano, Andreas Baumann, Erich Krämer, Jörg Langwald, Robin Gruber, Nikolaus Seitz, Georg Plank, Klaus Kunze, Robert Burger, Florian Schmidt, Thomas Wimböck, Gerd Hirzinger: Rollin' Justin - Design considerations and realization of a mobile platform for a humanoid upper body. ICRA 2009: 4131-4137

Thomas Wimböck, Dragomir N. Nenchev, Alin Albu-Schäffer, Gerd Hirzinger: Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin. IROS 2009: 5481-5486

Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Sebastian Wolf, Christoph Borst, Gerd Hirzinger: Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance. ISRR 2009: 185-207

Thomas Wimböck, Christian Ott, Gerd Hirzinger: Analysis and experimental evaluation of the Intrinsically Passive Controller (IPC) for multifingered hands. ICRA 2008: 278-284

Martin Görner, Thomas Wimböck, Andreas Baumann, Matthias Fuchs, Thomas Bahls, Markus Grebenstein, Christoph Borst, Jörg Butterfaß, Gerd Hirzinger: The DLR-Crawler: A testbed for actively compliant hexapod walking based on the fingers of DLR-Hand II. IROS 2008: 1525-1531

Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, Andreas Kugi, Gerd Hirzinger: Impedance control for variable stiffness mechanisms with nonlinear joint coupling. IROS 2008: 3796-3803

Christoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, Ulrich Hillenbrand, Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger: A humanoid upper body system for two-handed manipulation. ICRA 2007: 2766-2767

Thomas Wimböck, Christian Ott, Gerd Hirzinger: Impedance Behaviors for Two-handed Manipulation: Design and Experiments. ICRA 2007: 4182-4189

Gianluca Palli, Claudio Melchiorri, Thomas Wimböck, Markus Grebenstein, Gerd Hirzinger: Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints. ICRA 2007: 4367-4372

Christian Ott, Oliver Eiberger, Werner Friedl, Berthold Bäuml, Ulrich Hillenbrand, Christoph Borst, Alin Albu-Schäffer, Bernhard Brunner, Heiko Hirschmüller, Simon Kielhöfer, Rainer Konietschke, Michael Suppa, Thomas Wimböck, Franziska Zacharias, Gerhard Hirzinger: A Humanoid Two-Arm System for Dexterous Manipulation. Humanoids 2006: 276-283

Thomas Wimböck, Christian Ott, Gerd Hirzinger: Passivity-based Object-Level Impedance Control for a Multifingered Hand. IROS 2006: 4621-4627