Jörn Malzahn

According to our database, Jörn Malzahn authored at least 38 papers between 2009 and 2023.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2023

An Optimization Study on Modular Reconfigurable Robots: Finding the Task-Optimal Design.

Edoardo Romiti, Francesco Iacobelli, Marco Ruzzon, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis

Proceedings of the 19th IEEE International Conference on Automation Science and Engineering, 2023

2022

An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments.

Maolin Lei, Liang Lu, Arturo Laurenzi, Luca Rossini, Edoardo Romiti, Jörn Malzahn, Nikos G. Tsagarakis

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

2021

Blending of Series-Parallel Compliant Actuation With Field Weakening Control for Explosive Motion Generation.

Vishnu Dev Amara, Jörn Malzahn, Wesley Roozing, Nikolaos G. Tsagarakis

IEEE Robotics Autom. Lett., 2021

Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots.

Edoardo Romiti, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

A Compliant Mechanism with Progressive Stiffness for Robotic Actuation.

Eamon Barrett, Jörn Malzahn, Nikos G. Tsagarakis

Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2021

2020

On the efficient control of series-parallel compliant articulated robots.

Vishnu Dev Amara, Jörn Malzahn, Zeyu Ren, Wesley Roozing, Nikos G. Tsagarakis

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

The Compliant Joint Toolbox for MATLAB: An Introduction With Examples.

Jörn Malzahn, Wesley Roozing, Nikos G. Tsagarakis

IEEE Robotics Autom. Mag., 2019

CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform.

Navvab Kashiri, Lorenzo Baccelliere, Luca Muratore, Arturo Laurenzi, Zeyu Ren, Enrico Mingo Hoffman, Malgorzata Kamedula, Giuseppe Francesco Rigano, Jörn Malzahn, Stefano Cordasco, Paolo Guria, Alessio Margan, Nikos G. Tsagarakis

IEEE Robotics Autom. Lett., 2019

Editorial: Advances in Mechatronics and Biomechanics Towards Efficient Robot Actuation.

Jörn Malzahn, Navvab Kashiri, Monica A. Daley, Nikolaos G. Tsagarakis

Frontiers Robotics AI, 2019

A Rolling Flexure Mechanism for Progressive Stiffness Actuators.

Jörn Malzahn, Eamon Barrett, Nikos G. Tsagarakis

Proceedings of the International Conference on Robotics and Automation, 2019

Exploiting Controllability for Vibration Damping in Multiple Planes of Link-Elastic Robot Arms.

Freia Irina Muster, Jörn Malzahn, Torsten Bertram

Proceedings of the IEEE International Conference on Mechatronics, 2019

2018

On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots.

Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff

IEEE Trans. Robotics, 2018

An Overview on Principles for Energy Efficient Robot Locomotion.

Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schäffer, Patrick Clary, Monica A. Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan W. Hurst, Jörn Malzahn, Glenn Mathijssen, C. David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae-Bok Song, Nils Smit-Anseeuw, Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikolaos G. Tsagarakis

Frontiers Robotics AI, 2018

Continuously Controllable Series Clutches for Efficient Robot Actuation.

Jörn Malzahn, Vishnu Dev Amara, Nikolaos G. Tsagarakis

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

On the Stiffness Selection for Torque-Controlled Series-Elastic Actuators.

Wesley Roozing, Jörn Malzahn, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis

IEEE Robotics Autom. Lett., 2017

On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder-Based Principles.

Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis

IEEE Robotics Autom. Lett., 2017

WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments.

Nikolaos G. Tsagarakis, Darwin G. Caldwell, Francesca Negrello, Wooseok Choi, Lorenzo Baccelliere, Vo-Gia Loc, J. Noorden, Luca Muratore, Alessio Margan, Alberto Cardellino, Lorenzo Natale, Enrico Mingo Hoffman, Houman Dallali, Navvab Kashiri, Jörn Malzahn, Jinoh Lee, Przemyslaw Kryczka, Dimitrios Kanoulas, Manolo Garabini, Manuel G. Catalano, Mirko Ferrati, Valerio Varricchio, Lucia Pallottino, Corrado Pavan, Antonio Bicchi, Alessandro Settimi, Alessio Rocchi, Arash Ajoudani

J. Field Robotics, 2017

Controllability and accessibility of vibrations in multiple planes on link-elastic robot arms.

Freia Irina John, Jörn Malzahn, Torsten Bertram

Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, 2017

FloBaRoID - A Software Package for the Identification of Robot Dynamics Parameters.

Stefan Bethge, Jörn Malzahn, Nikolaos G. Tsagarakis, Darwin G. Caldwell

Proceedings of the Advances in Service and Industrial Robotics, 2017

What is the torque bandwidth of this actuator?

Jörn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos G. Tsagarakis, Darwin G. Caldwell

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks.

Lorenzo Baccelliere, Navvab Kashiri, Luca Muratore, Arturo Laurenzi, Malgorzata Kamedula, Alessio Margan, Stefano Cordasco, Jörn Malzahn, Nikos G. Tsagarakis

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Combined inverse-dynamics/passivity-based control for robots with elastic joints.

Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

A two-staged residual for resilient external torque estimation with series elastic actuators.

Chan Lee, Jinoh Lee, Jörn Malzahn, Nikolaos G. Tsagarakis, Sehoon Oh

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

An online interactive method for guided calibration of multi-dimensional force/torque transducers.

Francesco Cursi, Jörn Malzahn, Nikolaos G. Tsagarakis, Darwin G. Caldwell

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016

On the Equivalence of Direct Strain Feedback and Lumped Parameter Wave Echo Control for Oscillation Damping of Elastic-Link Arms.

Jörn Malzahn, Torsten Bertram

IEEE Robotics Autom. Lett., 2016

Comparison of open-loop and closed-loop disturbance observers for series elastic actuators.

Wesley Roozing, Jörn Malzahn, Darwin G. Caldwell, Nikos G. Tsagarakis

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

2015

Link elasticity exploited for payload estimation and force control.

Jörn Malzahn, Russell Schloss, Torsten Bertram

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

A modular compliant actuator for emerging high performance and fall-resilient humanoids.

Francesca Negrello, Manolo Garabini, Manuel G. Catalano, Jörn Malzahn, Darwin G. Caldwell, Antonio Bicchi, Nikolaos G. Tsagarakis

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

2014

Dynamics identification of a damped multi elastic link robot arm under gravity.

Jörn Malzahn, René Felix Reinhart, Torsten Bertram

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2012

Bildbasierte Regelung eines gliedelastischen Roboterarms mit einem RGB-D-Sensor.

Jörn Malzahn, Anh Son Phung, Frank Hoffmann, Torsten Bertram

Autom., 2012

A Multi-Link-Flexible Robot Arm Catching Thrown Balls.

Jörn Malzahn, Anh Son Phung, Torsten Bertram

Proceedings of the ROBOTIK 2012, 2012

Tool centered learning from demonstration for robotic arms with visual feedback.

Anh Son Phung, Jörn Malzahn, Frank Hoffmann, Torsten Bertram

Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics, 2012

Scene adaptive RGB-D based oscillation sensing for a multi flexible link robot arm in unstructured dynamic environments.

Jörn Malzahn, Anh Son Phung, Torsten Bertram

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Predictive Delay Compensation for Camera Based Oscillation Damping of a Multi Link Flexible Robot.

Jörn Malzahn, Anh Son Phung, Torsten Bertram

Proceedings of the Intelligent Robotics and Applications - 5th International Conference, 2012

2011

Data based kinematic model of a multi-flexible-link robot arm for varying payloads.

Anh Son Phung, Jörn Malzahn, Frank Hoffmann, Torsten Bertram

Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics, 2011

Vibration control of a multi-flexible-link robot arm under gravity.

Jörn Malzahn, Anh Son Phung, Frank Hoffmann, Torsten Bertram

Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics, 2011

2010

Markerless Visual Vibration Damping of a 3-DOF Flexible Link Robot Arm.

Jörn Malzahn, Anh Son Phung, Rene Franke, Frank Hoffmann, Torsten Bertram

Proceedings of the ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics), 7-9 June 2010, Munich, Germany, 2010

2009

Vibration control of a multi-link flexible robot arm with Fiber-Bragg-Grating sensors.

Rene Franke, Jörn Malzahn, Thomas Nierobisch, Frank Hoffmann, Torsten Bertram

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009