Bastian Deutschmann
Bastian Deutschmann
German Aerospace Center (DLR), Institute of Robotics and Mechatronics
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A structurally flexible humanoid spine based on a tendon-driven elastic continuum
J Reinecke, B Deutschmann, D Fehrenbach
2016 IEEE International Conference on Robotics and Automation (ICRA), 4714-4721, 2016
Extending the capability of using a waterjet in surgical interventions by the use of robotics
T Bahls, FA Fröhlich, A Hellings, B Deutschmann, AO Albu-Schäffer
IEEE Transactions on Biomedical Engineering 64 (2), 284-294, 2016
Robust motion control of a soft robotic system using fractional order control
B Deutschmann, C Ott, CA Monje, C Balaguer
International Conference on Robotics in Alpe-Adria Danube Region, 147-155, 2017
Position control of an underactuated continuum mechanism using a reduced nonlinear model
B Deutschmann, A Dietrich, C Ott
2017 IEEE 56th Annual Conference on Decision and Control (CDC), 5223-5230, 2017
A method to identify the nonlinear stiffness characteristics of an elastic continuum mechanism
B Deutschmann, T Liu, A Dietrich, C Ott, D Lee
IEEE Robotics and Automation Letters 3 (3), 1450-1457, 2018
Six-dof pose estimation for a tendon-driven continuum mechanism without a deformation model
B Deutschmann, M Chalon, J Reinecke, M Maier, C Ott
IEEE Robotics and Automation Letters 4 (4), 3425-3432, 2019
Reduced models for the static simulation of an elastic continuum mechanism
B Deutschmann, SR Eugster, C Ott
IFAC-PapersOnLine 51 (2), 403-408, 2018
Open source tendon-driven continuum mechanism: a platform for research in soft robotics
B Deutschmann, J Reinecke, A Dietrich
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 54-61, 2022
A nonlinear Timoshenko beam formulation for modeling a tendon‐driven compliant neck mechanism
SR Eugster, B Deutschmann
PAMM 18 (1), e201800208, 2018
A robotic torso joint with adjustable linear spring mechanism for natural dynamic motions in a differential-elastic arrangement
J Reinecke, A Dietrich, A Shu, B Deutschmann, M Hutter
IEEE Robotics and Automation Letters 7 (1), 9-16, 2021
An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion with Weight Compensation
J Reinecke, B Deutschmann, A Dietrich, M Hutter
IEEE Robotics and Automation Letters, 2020
Fractional Order Control of Continuum Soft Robots: Combining Decoupled/Reduced-Dynamics Models and Robust Fractional Order Controllers for Complex Soft Robot Motions
CA Monje, B Deutschmann, J Muñoz, C Ott, C Balaguer
IEEE Control Systems Magazine 43 (3), 66-99, 2023
Fault-tolerant six-DoF pose estimation for tendon-driven continuum mechanisms
A Raffin, B Deutschmann, F Stulp
Frontiers in Robotics and AI 8, 619238, 2021
A provably stable iterative learning controller for continuum soft robots
M Pierallini, F Stella, F Angelini, B Deutschmann, J Hughes, A Bicchi, ...
IEEE Robotics and Automation Letters, 2023
Robust H∞ control of a tendon–driven elastic continuum mechanism via a systematic description of nonlinearities
A Shu, B Deutschmann, A Dietrich, C Ott, A Albu-Schäffer
IFAC-PapersOnLine 51 (22), 386-392, 2018
Task-specific evaluation of kinematic designs for instruments in minimally invasive robotic surgery
B Deutschmann, R Konietschke, A Albu-Scha
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2013
Fractional order control of a soft robotic system
CA Monje, C Balaguer, B Deutschmann, C Ott
Advances in Cooperative Robotics, 771-779, 2017
Multi-input multi-output fractional-order control of an underactuated continuum mechanism
B Deutschmann, CA Monje, C Ott
International Journal of Advanced Robotic Systems 17 (6), 1729881420969578, 2020
Modeling and Control for a Class of Tendon-Driven Continuum Mechanisms
B Deutschmann
TEWISS Verlag, 2020
Control of a soft robotic link using a fractional-order controller
CA Monje, C Balaguer, B Deutschmann, C y Ott
Handbook of Fractional Calculus with Applications, 321-338, 2019
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