M.Sc. Jérôme Kirchhoff

Jérôme Kirchhoff

Address M.Sc. Jérôme Kirchhoff
Simulation, Systems Optimization and Robotics Group
Department of Computer Science
Technische Universität Darmstadt
Hochschulstr. 10
D-64289 Darmstadt, Germany
Office Robert-Piloty-Gebäude S2|02, 2nd floor
Room D 211
Phone
Fax
+49 (0)6151 / 16-25565
+49 (0)6151 / 16-25569
E-Mail kirchhoff"at"sim.tu-darmstadt.de

Publications

2017

Jérôme Kirchhoff
Towards Dependability of Ultra Lightweight Tendon Driven Series Elastic Robots
(August 16, 2017)
Jérôme Kirchhoff, Oskar von Stryk
Velocity estimation for ultra lightweight tendon driven series elastic robots
In: Robotics and Automation Letter, pp. to appear, 2017
Jérôme Kirchhoff, Oskar von Stryk
New insights in synthetic fiber rope elongation and its detection for ultra lightweight tendon driven series elastic robots
In: Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM), pp. to appear, July 3-7, 2017

2016

Jerome Kirchhoff, Oskar von Stryk
Robust trajectory tracking control for an ultra lightweight tendon driven series elastic robot arm
In: Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM), pp. 1297-1304, July 12-15, 2016

2012

Thomas Lens, Jérôme Kirchhoff, Oskar von Stryk
Dynamic Modeling of Elastic Tendon Actuators with Tendon Slackening
In: Proceedings of the IEEE/RAS International Conference on Humanoid Robots (HUMANOIDS), pp. 779 - 784, Nov. 29 - Dec. 1, 2012

2011

Jérôme Kirchhoff
Parameter Identification for a Non-modular Elastic Joint Robot Arm for Observer-based Collision Detection
Technische Universität Darmstadt
(2011)

2008

Jérôme Kirchhoff
Kollisionserkennung am gelenkelastischen Manipulator BioRob mittels Residuen basierend auf dem verallgemeinerten Impuls
Technische Universität Darmstadt, Department of Computer Science
(2008)
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