Publications

Becker, M.; Lilge, T.; Müller, M. A. & Haddadin, S. (2021): Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning,  IEEE Robotics and Automation Letters, 2021, 6, 2618-2625
DOI: 10.1109/LRA.2021.3061997

Haddadin, Sami and Krieger, Kai and Albu-Schäffer, Alin and Lilge, Torsten (2018): Exploiting Elastic Energy Storage for “Blind” Cyclic Manipulation: Modeling, Stability Analysis, Control and Experiments for Dribbling,  IEEE Transactions on Robotics, Volume: 34, Issue: 1, Feb. 2018, 91-112 More info
DOI: 10.1109/TRO.2017.2765684

Tödtheide, A., Lilge, T., Haddadin, S. (2016): Antagonistic Impedance Control for Pneumatically Actuated Robot Joints ,  Robotics and Automation Letters, IEEE, vol. 1, no. 1, pp. 161-168 More info
DOI: 10.1109/LRA.2015.2511663

Albert, A., Gerecke, M., Gerth, W., Hofschulte, J., Lilge, T. & Strasser, R. (2003): Investigation of Bipedal Walking for Autonomous Service Robots,  SPIE - Robotics and Machine Perception Newsletter, vol. 12, no. 1, March, pp. 11-12.

Huijberts, H., Lilge, T. & Nijmeijer, H. (2001): Nonlinear Discrete-Time Synchronization Via Extended Observers,  International Journal of Bifurcation and Chaos, vol. 11, no. 7, Jul, pp. 1997-2006.
DOI: doi:10.1142/S0218127401003218

Huijberts, H., Lilge, T. & Nijmeijer, H. (1999): A control perspective on synchronization and the Takens-Aeyels-Sauer Recontruction Theorem,  Physical Review E, vol. 59, no. 4, April, pp. 4691-4694. More info
DOI: 10.1103/PhysRevE.59.4691

Lilge, T. (1998): On observer design for nonlinear discrete-time systems,  European Journal of Control, vol. 4, no. 4, pp. 306-319.
DOI: 10.1016/S0947-3580(98)70124-4

Gralla, C. & Lilge, T. (1992): Digitale Regelungen erfordern eine gute äquidistanz zyklisch eingeplanter Prozesse,  VMEbus, vol. 5, no. 2, pp. 44-50.

Buschermöhle, P.; Jouini, T.; Lilge, T. & Müller, M. A. (2024): Disturbance feedback-based model predictive control in uncertain dynamic environments,  Accepted at Conference on Nonlinear Model Predictive Control (NMPC 2024)
arXiv: 2404.09893

Becker, M.; Caspers, P.; Hattendorf, T.; Lilge, T.; Haddadin, S. & Müller, M. A. (2023): Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators,  22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 1017-1022
DOI: 10.1016/j.ifacol.2023.10.1698
arXiv: 2212.05815

Buschermöhle, P.; Lilge, T. & Müller, M. A. (2023): Robust model predictive control for linear sampled-data systems with irregular sampling times,  22nd IFAC World Congress: Yokohama, Japan, July 9-14, 2023. IFAC-PapersOnLine, Vol. 56, Issue 2, pp. 9399-9404
DOI: 10.1016/j.ifacol.2023.10.231

Albert, A., Vorndamme, J., Petereit, S. & Lilge, T. (2012): Automatisierte Aufnahme einer 3D-Raumkarte mit Unterputzdaten,  Automation 2012, VDI-Berichte, no. 2171, Jun 13-14, Baden-Baden, VDI Verlag GmbH, Düsseldorf, pp. 321-324. More info

Vorndamme, J., Petereit, S., Pitzer, B., Roan, P., Lilge, T. & Albert, A. (2012): Robotic System for Mapping 3D in-wall Information for Craftsmen,  Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012), May 21-22, Munich, Germany, VDE Verlag, Berlin, pp. 24-29. CD-ROM. More info

Lilge, T., Gerth, W. & Goronczy, A. (2007): Zur Selbstlokalisierung mobiler Systeme bei fehlenden absoluten Referenzen,  In Berns, K. & Luksch, T. (Ed.): Autonome Mobile Systeme 2007, Informatik aktuell, 18 - 19 Okt., Kaiserslautern, Springer Verlag Berlin Heidelberg, pp. 43-49.
DOI: 10.1007/978-3-540-74764-2_7

Seebode, M., Strasser, R., Lilge, T. & Gerth, W. (2005): Datenfusion in einem künstlichen Gleichgewichtsorgan für autonome Roboter,  39. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 14-15. (Nicht veröffentlicht). More info

Albert, A. & Lilge, T. (2001): Comparative Study of Three Nonlinear Discrete-Time Observer Designs for the Control of a Bipedal Robot,  4th International Conference on Climbing and Walking Robots, CLAWAR2001, pp. 851-858.

Huijberts, H.; Lilge, T. & Nijmeijer, H. (1999): Synchronization and observers for nonlinear discrete-time systems,  1999 European Control Conference (ECC), pp. 4643-4648 More info
DOI: 10.23919/ECC.1999.7100068

Lilge, T. (1998): Zeitdiskrete Beobachter für nichtlineare Systeme,  32. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 15-16. (Nicht veröffentlicht). More info

Lilge, T. & Gralla, C. (1992): Drei Echtzeitbetriebssysteme für die digitale Regelung im Vergleich,  In Rzehak, H. (Ed.): Kongress-Vorträge ECHTZEIT '92, Juni, Sindelfingen, pp. 253-262.
DOI: 10.1007/978-3-322-85506-0_5

Haddadin, S.; Johannsmeier, L.; Schmid, J.; Ende, T.; Parusel, S.; Haddadin, S.; Schappler, M.; Lilge, T. & Becker, M. (2019): Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands,  Robotics in Education - Results of the 9th International Conference on Robotics in Education (Rie 2018), pp. 3-17
DOI: 10.1007/978-3-319-97085-1_1

Schappler, M.; Lilge, T. & Haddadin, S. (2019): Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints,  In: Uhl T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham, pp 3157-3166
DOI: 10.1007/978-3-030-20131-9_311

Albert, A.; Breuning, O.; Petereit, S. & Lilge, T. (2015): Inertiale Stabilisierung einer Lastkarre mit Momentenkreiseln,  In: Heimann, B. and Albert, A. and Ortmaier, T. and Rissing, L. (Eds.): Mechatronik, Komponenten - Methoden - Beispiele, Fachbuchverlag Leipzig im Carl Hanser, 2015, S. 402. More info

Albert, A., Gerth, W. & Lilge, T. (2007): Stabilisierung einer zweibeinigen Laufmaschine,  In B. Heimann, W. Gerth & K. Popp: Mechatronik, Komponenten - Methoden - Beispiele, 3. ed., Leipzig, Hanser Fachbuchverlag, pp. 320-332. More info

Lilge, T. (1999): Nonlinear Discrete-Time Observers for Synchronization Problems,  In Nijmeijer, H. & I., F. T. (Ed.): New Directions in Nonlinear Observer Design, Lecture Notes in Control and Information Sciences, no. 244, London, Springer-Verlag, pp. 491-510.
DOI: 10.1007/BFb0109917

Lilge, T. (1998): Stabilisierung eines Doppelpendels,  In B. Heimann, W. Gerth & K. Popp: Mechatronik, Komponenten - Methoden - Beispiele, Hanser Fachbuchverlag, 1998, 334-344

Lilge, T. & Gralla, C. (1994): Drei Echtzeitbetriebssysteme für die digitale Regelung im Vergleich,  In Rzehak, H. (Ed.): Echtzeitsysteme und Fuzzy Control, Wiesbaden, Vieweg, pp. 73-89.
DOI: 10.1007/978-3-322-85506-0_5

Lilge, T. (1999): Zum Entwurf nichtlinearer zeitdiskreter Beobachter mittels Normalformen,  VDI-Fortschrittberichte, no. 752 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.
DOI: 10.15488/11328

Kathrin Nülle, Moritz Schappler, Svenja Tappe, Torsten, Lilge, Tobias Ortmaier, Sami Haddadin (2017): 3. Arm - Handwerker-Kraftassistenzsystem mit adaptiver Mensch-Technik-Interaktion: Projektabschlussbericht des Mechatronik Zentrum Hannovers
DOI: 10.2314/GBV:1014030161

Tödtheide, Alexander and Lilge, Torsten and Haddadin, Sami (2015): Compliant Interaction with an Antagonistic Pneumatically Controlled Robot Joint,  8th International Workshop on Human-Friendly Robotics, Munich, October 2015 More info

Lilge, T. (1997): Discrete-time observers for nonlinear systems,  In Isidori, A. & Allgöwer, F. (Ed.): Proc. of the 1997 COSY Workshop on Control of Nonlinear and Uncertain Systems, Jan., ETH Zürich, pp. 202-210. More info

Haddadin, S.; Johannsmeier, L.; Becker, M.; Schmid, J.; Ende, T.; Parusel, S.; Schappler, M. & Lilge, T. (2018): Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands (Video),  Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, p. 375 More info
DOI: 10.1145/3173386.3177534