Development of the Gait Generation for the Walking Robot ALDURO. Proceedings of Mechatronics 2006, International Federation of Automated Control, Heidelberg, Germany, 12-14 September, 2006.
A. Albadawi und D. Schramm
Auslegung und Steuerung der vierbeinigen Laufmaschine ALDURO. 2. Rexroth Doctorands Colloquium, Lohr am Main, Germany, May 11-12, 2006.
2005
M. Hiller, D. Germann und J. A. Morgado de Gois
Development of the Human-Guided Semi-Autonomous Walking Robot ALDURO. Sommeruniversität Duisburg "Guidance and Control of Autonomous Systems" 2005, Duisburg, Germany.
D. Germann, M. Hiller und D. Schramm
Design and Control of the Quadruped Walking Robot ALDURO. 22nd International Symposium on Automation and Robotics in Construction, ISARC 2005, Ferrara, Italy, September 11–14, 2005.
P. Limbourg, D. Germann, J. Petersen und H.-D. Kochs
Integration von Verlässlichkeitsbetrachtungen in die VDI 2206: Entwicklungsmethodik für mechatronische Systeme. VDI Mechatroniktagung - Innovative Produktentwicklung, Wiesloch, Germany, June, 2005.
J. A. Morgado de Gois und M. Hiller
Implementation of a Sensor System for Obstacle Avoidance at a Four-legged Robot. XI International Symposium on Dynamic Problems of Mechanics, XI DINAME, Ouro Preto, Brazil, March 2005.
2004
P. Limbourg und D. Germann
Reliability Assessment and Optimization under Uncertainty in the Dempster-Shafer Framework. 27th European Safety, Reliability & Data Association (ESReDA) Seminar, pp 77-89, Glasgow, Scotland, November 15-16, 2004.
J. A. Morgado de Gois und M. Hiller
Ultrasound Sensor System with Fuzzy Data Processing. 7th International Conference on Climbing and Walking Robots CLAWAR 2004, Madrid, Spain, September 2004.
M. Hiller, D. Germann und J. A. Morgado de Gois
Design and Control of a Quadruped Robot Walking in Unstructured Terrain. IEEE Conference on Control Applications, CCA 2004, Taipei, Taiwan, September 2004.
D. Germann und O. Lenord
A Modular Controller Structure for Generic Quadrupeds Demonstrated on ALDURO. International Symposium on Robots and Automation, ISRA 2004, Querétaro, México, August 2004.
2003
J. A. Morgado de Gois, D. Germann und M. Hiller
Sensor-based Ground Detection in Unstructured Terrain for the Walking-machine ALDURO. 6th International Conference on Climbing and Walking Robots CLAWAR2003, pp 911-918, Catania, Italy, September 2003.
D. Germann und O. Lenord
Modular Architecture of a Motion Controller for Quadrupeds Applied to the Walking Robots ALDURO and BISAM. 6th International Conference on Climbing and Walking Robots CLAWAR2003, pp 425-432, Catania, Italy, September 2003.
M. Hiller, D. Germann und J. Müller
Free Gait Pattern Generator for the Quadrupted Walking Robot ALDURO. Proceedings of the 10th International Symposium on Dynamic Problems of Mechanics X-DINAME, Edited by P.R.G. Kurka and A.T. Fleury, Ubatuba, Brazil, March 10-14, 2003.
A. Abel
Untersuchung der nichtholonomen Bindungen am Schreitfahrwerk ALDURO und Implementierung in MOBILE. Diploma-Thesis, Duisburg, 2003.
2002
D. Germann, D. Franitza und M. Hiller
Influence of the Nonholonomic Constraints on the Manoeuvrability of the Legged and Wheeled Vehicle. 5th International Conference on Climbing and Walking Robots CLAWAR2002, pp 555--562, Paris, France, 2002.
M. Hiller, J. Müller und D. Germann
Alduro schreitet voran. Spektrum der Wissenschaft, pp 88--89, Heidelberg, Deutschland, September 2002.
M. Hiller und D. Germann
Manoeuvrability of the Legged and Wheeled Vehicle ALDURO in Uneven Terrain with Consideration of Nonholonomic Constraints. Festschrift zum 90. Geburtstag von Prof. Kurt Magnus, Garching, Deutschland, 2002.
J. Müller
Entwicklung virtueller Prototypen des hydraulisch angetriebenen Schreitfahrwerks ALDURO. PhD-Thesis, Fortschritt-Berichte VDI Reihe 1, Nr. 356. VDI-Verlag, Düsseldorf 2002.
M. Hiller und D. Germann
Virtuelles Prototyping für Roboterentwicklungen am Beispiel eines Schreitfahrwerks. Industrielles Symposium Mechatronik ISM2002, Linz, Österreich, 2002.
M. Hiller und D. Germann
Manoeuvrability of the Legged and Wheeled Vehicle ALDURO in Uneven Terrain with Consideration of Nonholonomic Constraints. Proceedings of the First International Symposium on Mechatronics ISoM2002, Chemnitz, Germany, 2002.
D. Germann, M. Lüscher und M. Hiller
Influence of the Non-holonomic Constraints on the Legged and Wheeled Vehicle ALDURO. Proceedings in Applied Mathematics and Mechanics, Volume 1, pp 113-114, March 2002.
2001
M. Hiller
Mechatronik - ein Weg zu intelligenten Lösungen in der Mechanik am Beispiel des autonomen Schreitfahrwerkes ALDURO. Wissenschaftliche Zeitschrift TU Dresden 50 Heft 3, Dresden, Germany, 2001.
D. Germann, T. Bruckmann und M. Hiller
Joystick Force Feedback based on Proximity to the Linearised Workspace of the Four-legged Robot ALDURO. Proceedings of the 4th International Conference on Climbing and Walking Robots CLAWAR, pp 513--520, Karlsruhe, Germany, 2001.
H. Witte, R. Hackert, K. E. Lilje, N. Schilling, D. Voges, G. Klauer, W. Ilg, J. Albiez, A. Seyfarth, D. Germann, M. Hiller, R. Dillmann und M. S. Fischer
Transfer of biological principles into the construction of quadruped walking machines. Proc. of the 2nd International Workshop on Robot Motion and Control RoMoCo'01, Poznan University of Technology & University of Zielona Gora, Poland, 2001.
U. Zwiers
Multibody Modelling of Walking Robots. Diploma-Thesis, Duisburg, 2001.
M. Lüscher
Einfluss der nichtholonomen Bindungen auf die Manövrierbarkeit des Schreitfahrwerks ALDURO. Diploma-Thesis, Duisburg, 2001.
2000 and before
D. Germann, J. Müller und M. Hiller
Speed-adapted Trajectories in Case of Insufficient Hydraulic Pressure for the Four-leg Large-scale Walking Vehicle ALDURO. Proceedings of the Fifth International Conference on Motion and Vibration Control MOVIC2000, Sydney, Australia, 2000.
M. Hiller, J. Müller, U. Roll, M. Schneider, D. Schröter, M. Torlo und D. Ward
Design and realization of the anthropomorphically legged and wheeled Duisburg robot ALDURO. Proceedings of the 10th World Congr. of theory of Machines and Mechanisms IFToMM, Oulu, Finland, 1999.
M. Hiller, J. Müller, U. Roll, M. Schneider, D. Schröter, M. Torlo und D. Ward
The mechatronic design and development of the mobile robot ALDURO. Proceedings IARP Workshop on biologically motivated service Robotics. Jena, Germany, 1999.
J. Müller und M. Hiller
Design of an energy optimal hydraulic concept for the large-scale combined legged and wheeled vehicle ALDURO. Proceedings 10th World Congr. on the Theory of Machines and Mechanisms, Oulu, Finland, June 1999.
J. Müller und M. Hiller
A Mechatronic Simulation Model for the Large-Scale Hydraulically Driven ALDURO. held at the International Workshop on "Computer Software for Design, Analysis and Control of Fluid Power Systems", Trondheim, Norway, 1999.
M. Schneider und J. Müller
Force based motion control of the walking machine ALDURO using exact linearization methods. Proceedings IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics AIM'99, Atlanta, USA, 1999.
J. Müller und M. Schneider
Mechatronic Models for Simulation and Model Based Control of the Walking Machine ALDURO. Proceedings IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics AIM'99, Atlanta, USA, 1999.
U. Roll, M. Torlo und M. Hiller
Modular real-time control via an optical field bus system on the example of the four-legged walking machine ALDURO. Proceedings of the ICRAM 1999, Istambul, Turkey, 1999.
M. Schneider und J. Müller
Modellbasierte Positions- und Kraftregelung eines Schreitfahrwerks. Proceedings of the GAMM Jahrestagung 1999, Metz, France, April 1999.
J. Müller
Simulationsmodell zur Kraftberechnung des Schreitfahrwerks ALDURO. Interner Forschungsberichte, Fachgebiet Mechatronik, Fachbereich Maschinenbau, Gerhard- Mercator-Universität - GH Duisburg, Duisburg, Germany, 1998.
J. Müller, M. Schneider and M. Hiller
Modelling and simulation of the large-scale hydraulically driven ALDURO. Proceedings of the EUROMECH Colloquium 375, Munich and Proc. of the Workshop Autonomous Walking 1998, Magdeburg, Germany, 1998.
J. Müller
Simulation hydraulischer Systeme in MOBILE und DSHplus. Institutsbericht IB98-3, Fachgebiet Mechatronik, Gerhard-Mercator-Universität Duisburg, 1998.
D. Schröter
Festigkeitsberechnung am Beispiel eines ALDURO-Beins. Institutsbericht IB98-4, Fachgebiet Mechatronik, Gerhard-Mercator-Universität Duisburg, 1998.
M. Gardemann
Modellbildung, Regelung und Simulation einer einbeinigen Hüpfmaschine mit Hilfe der Programmsysteme MOBILE und MATLAB/SIMULINK. Studienarbeit, Fachgebiet Mechatronik, Fachbereich Maschinenbau, Gerhard-Mercator-Universität - GH Duisburg, Duisburg, Germany, 1997.
A. Kecskeméthy
A Spatial Leg Mechanism with Anthropomorphic Properties for Ambulatory Robots. Proceedings 4th Int. Workshop on Advances in Robot Kinematics, pp. 161-170, Kluwer Academic Publishers, Dordrecht, Boston, London, 1994.
M. Hiller, A. Kecskeméthy, T. Schmitz und M. Schneider
Modelling and Simulation of Mobile Robots and Large Manipulators. Proceedings 3rd Int. Workshop on Advances in Robot Kinematics, Ferrara, Italy, 1992.
M. Hiller und T. Schmitz
Kinematics and Dynamics of the Combined Legged and Wheeled Vehicle 'RoboTRAC'. CSME Mech. Eng. Forum, pp. 387-392, Toronto, Ontario, Canada, 1990.
M. Hiller
RoboTRAC - An Example for Nonholonomic Constraints in Complex Multibody Systems with Kinematical Loops.
M. Hiller und T. Schmitz
Walking Strategies for a Combined Wheeled and Legged Vehicle.
