Gerd Hirzinger

A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots

Alin Albu‐Schäffer, Christian Ott, Gerd Hirzinger · The International Journal of Robotics Research · 2007 · 799 citations

Robot Kinematics, Engineering, General Passivity-based Framework +17

Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm

Alessandro De Luca, Alin Albu‐Schäffer, Sami Haddadin et al. · 2006 · 756 citations · Full text

Total Energy, Robot Kinematics, Human-robot Collaborative Assembly +17

Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction

Sami Haddadin, Alin Albu‐Schäffer, Alessandro De Luca et al. · 2008 · 556 citations · Full text

A new variable stiffness design: Matching requirements of the next robot generation

Sebastian Wolf, Gerd Hirzinger · 2008 · 529 citations

Robot Kinematics, Robotic Systems, Engineering +24

Soft robotics

Alin Albu‐Schäffer, Oliver Eiberger, Markus Grebenstein et al. · IEEE Robotics & Automation Magazine · 2008 · 468 citations · Full text

Robot Kinematics, Robot Control, Dlr Activities +10