G
Gerhard Hirzinger
Researcher at German Aerospace Center
Publications - 30
Citations - 2068
Gerhard Hirzinger is an academic researcher from German Aerospace Center. The author has contributed to research in topics: Robot & Industrial robot. The author has an hindex of 12, co-authored 30 publications receiving 1884 citations.
Papers
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Journal ArticleDOI
The DLR lightweight robot : design and control concepts for robots in human environments
Alin Albu-Schaffer,Sami Haddadin,Christian Ott,Andreas Stemmer,Thomas Wimbock,Gerhard Hirzinger +5 more
TL;DR: The first systematic experimental evaluation of possible injuries during robot‐human crashes using standardized testing facilities is presented, and a consistent approach for using these sensors for manipulation in human environments is described.
Book ChapterDOI
Adaptive and generic corner detection based on the accelerated segment test
TL;DR: It is shown how the accelerated segment test, which underlies FAST, can be significantly improved by making it more generic while increasing its performance, by finding the optimal decision tree in an extended configuration space, and demonstrating how specialized trees can be combined to yield an adaptive and generic accelerated segments test.
Proceedings Article
The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing
Rainer Bischoff,Johannes Kurth,Guenter Schreiber,Ralf Koeppe,Alin Albu-Schaeffer,Alexander Beyer,Oliver Eiberger,Sami Haddadin,Andreas Stemmer,Gerhard Grunwald,Gerhard Hirzinger +10 more
TL;DR: The stages of product genesis, the most innovative features and first application examples are presented and the KUKA Lightweight Robot is presented, a unique reference platform for robotics research and future manufacturing.
Proceedings ArticleDOI
Bipedal walking control based on Capture Point dynamics
TL;DR: The derivation of a Capture Point (CP) control principle based on the natural dynamics of the linear inverted pendulum (LIP), which stabilizes the walking robot and motivates the design of a CP tracking and a CP end-of-step controller.
Journal ArticleDOI
Stability Boundary for Haptic Rendering : Influence of Damping and Delay
TL;DR: A new linear condition, which summarizes the relation between virtual stiffness, viscous damping, and delay, is proposed under certain assumptions, which include a linear system, short delays, fast sampling frequency, and relatively low physical and virtual damping.