On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level. - Sami Haddadin; Kai Krieger; Nico Mansfeld; Alin Albu-Schäffer (IROS, 2012)

Rigid vs. elastic actuation: Requirements & performance. - Sami Haddadin; Nico Mansfeld; Alin Albu-Schäffer (IROS, 2012)

Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time. - Sami Haddadin; Roman Weitschat; Felix Huber; Mehmet Can Özparpucu; Nico Mansfeld; Alin Albu-Schäffer (ISRR, 2013)

Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection. - Nico Mansfeld; Sami Haddadin (IROS, 2014)

A comparison of braking strategies for elastic joint robots. - Nico Mansfeld; Sami Haddadin (ICRA, 2015)

Robotic agents capable of natural and safe physical interaction with human co-workers. - Michael Beetz; Georg Bartels; Alin Albu-Schäffer; Ferenc Balint-Benczedi; Rico Belder; Daniel Beßler; Sami Haddadin; Alexis Maldonado; Nico Mansfeld; Thiemo Wiedemeyer; Roman Weitschat; Jan-Hendrik Worch (IROS, 2015)

Maximal input limits for independent SISO control in modal space under consideration of actuator constraints. - Nico Mansfeld; Christian Ott 001; Sami Haddadin (ACC, 2016)

Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators. - Nico Mansfeld; Fabian Beck 002; Alexander Dietrich; Sami Haddadin (IROS, 2017)

Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization. - Nico Mansfeld; Badis Djellab; Jaime Raldua Veuthey; Fabian Beck 002; Christian Ott 001; Sami Haddadin (IROS, 2017)

Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties. - Nico Mansfeld; Mazin Hamad; Marvin Becker; Antonio Gonzales Marin; Sami Haddadin (IEEE Robotics Autom. Lett., 2018)

Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration. - Gianluca Garofalo; Nico Mansfeld; Julius Jankowski; Christian Ott 001 (ICRA, 2019)

Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task. - Nico Mansfeld; Youssef Michel; Tobias Bruckmann; Sami Haddadin (ICRA, 2019)

The Role of Robot Payload in the Safety Map Framework. - Mazin Hamad; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin (IROS, 2019)

CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems. - Robin Jeanne Kirschner; João Jantalia; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin (ICRA, 2021)

Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking. - Robin Jeanne Kirschner; Alexander Kurdas; Kübra Karacan; Philipp Junge; Seyed Ali Baradaran Birjandi; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin (IROS, 2021)

Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066. - Robin Jeanne Kirschner; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin (ISR, 2021)

Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066. - Robin Jeanne Kirschner; Nico Mansfeld; Guillermo Gómez Peña; Saeed Abdolshah; Sami Haddadin (ISR, 2021)

Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach. - Nico Mansfeld; Manuel Keppler; Sami Haddadin (IEEE Robotics Autom. Lett., 2021)

Global Safety Characteristics of Wheeled Mobile Manipulators. - Nico Mansfeld; Guillermo Gómez Peña; Mazin Hamad; Alexander Kurdas; Saeed Abdolshah; Sami Haddadin (CASE, 2022)

Online Payload Identification for Tactile Robots Using the Momentum Observer. - Alexander Kurdas; Mazin Hamad; Jonathan Vorndamme; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin (ICRA, 2022)

Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction. - Thomas Steinecker; Alexander Kurdas; Nico Mansfeld; Mazin Hamad; Robin Jeanne Kirschner; Saeed Abdolshah; Sami Haddadin (ICRA, 2022)

Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance. - Robin Jeanne Kirschner; Florian Martineau; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin (IROS, 2022)

ISO/TS 15066: How Different Interpretations Affect Risk Assessment. - Robin Jeanne Kirschner; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin (CoRR, 2022)

Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction. - Robin Jeanne Kirschner; Henning Mayer; Lisa Burr; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin (IEEE Robotics Autom. Lett., 2022)

S*: On Safe and Time Efficient Robot Motion Planning. - Riddhiman Laha; Wenxi Wu; Ruiai Sun; Nico Mansfeld; Luis F. C. Figueredo; Sami Haddadin (ICRA, 2023)

Fast yet predictable braking manoeuvers for real-time robot control. - Mazin Hamad; Jesus Gutierrez-Moreno; Hugo T. M. Kussaba; Nico Mansfeld; Saeed Abdolshah; Abdalla Swikir; Wolfram Burgard; Sami Haddadin (CoRR, 2023)

Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots. - Mazin Hamad; Alexander Kurdas; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin (IEEE Trans. Robotics, 2023)