Sami Haddadin

Orcid: 0000-0001-7696-4955

Affiliations:
  • Technical University Munich, Germany


According to our database1, Sami Haddadin authored at least 244 papers between 2006 and 2024.

Collaborative distances:
  • Dijkstra number2 of four.
  • Erdős number3 of four.

Timeline

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Bibliography

2024
Motion Planning Using Reactive Circular Fields: A 2-D Analysis of Collision Avoidance and Goal Convergence.
IEEE Trans. Autom. Control., March, 2024

Enhanced Dexterity Maps (EDM): A New Map for Manipulator Capability Analysis.
IEEE Robotics Autom. Lett., February, 2024

Predictive Multi-Agent-Based Planning and Landing Controller for Reactive Dual-Arm Manipulation.
IEEE Trans. Robotics, 2024

The Fingertip Manipulability Assessment of Tendon-Driven Multi-Fingered Hands.
IEEE Robotics Autom. Lett., 2024

Geometric Slosh-Free Tracking for Robotic Manipulators.
CoRR, 2024

Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC.
CoRR, 2024

Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints.
CoRR, 2024

2023
Machine learning-driven self-discovery of the robot body morphology.
Sci. Robotics, December, 2023

Anthropomorphic Grasping With Neural Object Shape Completion.
IEEE Robotics Autom. Lett., December, 2023

Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept.
IEEE Robotics Autom. Lett., December, 2023

ECDP: Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots.
IEEE Robotics Autom. Lett., October, 2023

Validation of a Robotic Testbench for Evaluating Biomechanical Effects of Implant Rotation in Total Knee Arthroplasty on a Cadaveric Specimen.
Sensors, September, 2023

Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots.
IEEE Trans. Robotics, August, 2023

A Wearable Force-Sensitive and Body-Aware Exoprosthesis for a Transhumeral Prosthesis Socket.
IEEE Trans. Robotics, June, 2023

Automatic Gripper-Finger Design, Production, and Application: Toward Fast and Cost-Effective Small-Batch Production.
IEEE Robotics Autom. Mag., June, 2023

Cooperative Assist-as-Needed Control for Robotic Rehabilitation: A Two-Player Game Approach.
IEEE Robotics Autom. Lett., May, 2023

Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics.
IEEE Robotics Autom. Lett., March, 2023

Aim-Aware Collision Monitoring: Discriminating Between Expected and Unexpected Post-Impact Behaviors.
IEEE Robotics Autom. Lett., 2023

The Next Evolution of Artificial Sense of Touch.
CoRR, 2023

Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach for Informed Sampling-Based Planner.
CoRR, 2023

LoHoRavens: A Long-Horizon Language-Conditioned Benchmark for Robotic Tabletop Manipulation.
CoRR, 2023

Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments.
CoRR, 2023

A Concise Overview of Safety Aspects in Human-Robot Interaction.
CoRR, 2023

Towards Language-Based Modulation of Assistive Robots through Multimodal Models.
CoRR, 2023

Fast yet predictable braking manoeuvers for real-time robot control.
CoRR, 2023

Learning optimal controllers: a dynamical motion primitive approach.
CoRR, 2023

Dual-Material 3D-Printed PaCoMe-Like Fingers for Flexible Biolaboratory Automation.
CoRR, 2023

Identifying Requirements for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A user-centered design approach.
Proceedings of the 32nd IEEE International Conference on Robot and Human Interactive Communication, 2023

Assessing Perceived Discomfort and Proxemic Behavior towards Robots: A Comparative Study between Real and Augmented Reality Presentations.
Proceedings of the 32nd IEEE International Conference on Robot and Human Interactive Communication, 2023

Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers<sup>*</sup>.
IROS, 2023

I<sup>2</sup>mpedance - A Passivity Based Integrative Impedance Controller for Precise and Compliant Manipulation and Interaction.
IROS, 2023

Shared Autonomy Control for Slosh-Free Teleoperation.
IROS, 2023

Labelling Lightweight Robot Energy Consumption: A Mechatronics-Based Benchmarking Metric Set.
IROS, 2023

Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles.
IROS, 2023

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration.
IROS, 2023

Contact-Aware Shaping and Maintenance of Deformable Linear Objects With Fixtures.
IROS, 2023

Identification of a Generalized Base Inertial Parameter Set of Robotic Manipulators Considering Mounting Configurations.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

S*: On Safe and Time Efficient Robot Motion Planning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Soft Sensing Skins for Arbitrary Objects: An Automatic Framework.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

LATTE: LAnguage Trajectory TransformEr.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Estimating Joint Kinematics and Muscles Forces During Robotic Rehabilitation to Detect and Counteract Reduced Ankle Mobility.
Proceedings of the International Conference on Rehabilitation Robotics, 2023

Assessing Human-Human Kinematics for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A Pilot Study.
Proceedings of the International Conference on Rehabilitation Robotics, 2023

Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation.
Proceedings of the International Conference on Rehabilitation Robotics, 2023

Individualized Training of Back Muscles Using Iterative Learning Control of a Compliant Balance Board.
Proceedings of the International Conference on Rehabilitation Robotics, 2023

A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading.
Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

Human-Inspired Audiovisual Inducement of Whole-Body Responses.
Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

Robust Independent Component Analysis based EMG decomposition - a comparison study.
Proceedings of the 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2023

Real-Time-Capable Muscle Force Estimation for Monitoring Robotic Rehabilitation Therapy in the Intensive Care Unit.
Proceedings of the 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2023

From Human Hand to Grasp Surface Detection, Tracking & Analysis.
Proceedings of the 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2023

Error-related Potentials in a Virtual Pick-and-Place Experiment: Toward Real-world Shared-control.
Proceedings of the 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society, 2023

The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control.
Proceedings of the 62nd IEEE Conference on Decision and Control, 2023

Self-Organization and Collaboration in Robotic Manufacturing Systems.
Proceedings of the 19th IEEE International Conference on Automation Science and Engineering, 2023

Data Recording for Responsible Robotics.
Proceedings of the IEEE International Conference on Advanced Robotics and Its Social Impacts, 2023

Influence of robot motion and human factors on users' perceived safety in HRI.
Proceedings of the IEEE International Conference on Advanced Robotics and Its Social Impacts, 2023

2022
Development of an Exoskeleton Platform of the Finger for Objective Patient Monitoring in Rehabilitation.
Sensors, 2022

The Franka Emika Robot: A Reference Platform for Robotics Research and Education.
IEEE Robotics Autom. Mag., 2022

Passivity-Based Adaptive Force-Impedance Control for Modular Multi-Manual Object Manipulation.
IEEE Robotics Autom. Lett., 2022

Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study.
IEEE Robotics Autom. Lett., 2022

Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction.
IEEE Robotics Autom. Lett., 2022

End-to-End From Human Hand Synergies to Robot Hand Tendon Routing.
IEEE Robotics Autom. Lett., 2022

PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications.
Frontiers Virtual Real., 2022

Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators.
CoRR, 2022

Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence.
CoRR, 2022

ISO/TS 15066: How Different Interpretations Affect Risk Assessment.
CoRR, 2022

Towards Remote Robotic Competitions: An Internet-Connected Task Board and Dashboard.
CoRR, 2022

Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Real-time IMU-Based Learning: a Classification of Contact Materials.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

A Solution to Slosh-free Robot Trajectory Optimization.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Robust Cartesian Kinematics Estimation for Task-Space Control Systems.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Online Payload Identification for Tactile Robots Using the Momentum Observer.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

An MPC Framework For Planning Safe & Trustworthy Robot Motions.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Testing robot-based assist-as-needed therapy for improving active participation of a patient during early neurorehabilitation: a case study.
Proceedings of the International Conference on Rehabilitation Robotics, 2022

Integrated Bi-Manual Motion Generation and Control shaped for Probabilistic Movement Primitives.
Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Functional Mode Switching for Safe and Efficient Human-Robot Interaction.
Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Object-Centric Grasping Transferability: Linking Meshes to Postures.
Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Adaptive Admittance Control for Cooperative Manipulation using Dual Quaternion Representation and Logarithmic Mapping.
Proceedings of the 61st IEEE Conference on Decision and Control, 2022

Global Safety Characteristics of Wheeled Mobile Manipulators.
Proceedings of the 18th IEEE International Conference on Automation Science and Engineering, 2022

Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-Emf.
Proceedings of the American Control Conference, 2022

2021
An Adaptive Multi-Modal Control Strategy to Attenuate the Limb Position Effect in Myoelectric Pattern Recognition.
Sensors, 2021

Introducing GARMI - A Service Robotics Platform to Support the Elderly at Home: Design Philosophy, System Overview and First Results.
IEEE Robotics Autom. Lett., 2021

Fast and Safe Trajectory Planning: Solving the Cobot Performance/Safety Trade-Off in Human-Robot Shared Environments.
IEEE Robotics Autom. Lett., 2021

Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach.
IEEE Robotics Autom. Lett., 2021

Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning.
IEEE Robotics Autom. Lett., 2021

An Adaptive Mechatronic Exoskeleton for Force-Controlled Finger Rehabilitation.
Frontiers Robotics AI, 2021

Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space.
CoRR, 2021

SyReNets: Symbolic Residual Neural Networks.
CoRR, 2021

COVID-19 and beyond: development of a comprehensive telemedical diagnostic framework.
Int. J. Comput. Assist. Radiol. Surg., 2021

Legal and Technical Considerations on Unified, Safe and Data-Protected Haptic Telepresence in Healthcare.
Proceedings of the IEEE International Conference on Intelligence and Safety for Robotics, 2021

Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066.
Proceedings of the IEEE International Conference on Intelligence and Safety for Robotics, 2021

Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066.
Proceedings of the IEEE International Conference on Intelligence and Safety for Robotics, 2021

Involuntary Motion in Human-Robot Interaction: Effect of Interactive User Training on the Occurrence of Human Startle-Surprise Motion.
Proceedings of the IEEE International Conference on Intelligence and Safety for Robotics, 2021

A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities.
Proceedings of the IEEE International Conference on Intelligence and Safety for Robotics, 2021

Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups.
Proceedings of the IEEE International Conference on Intelligence and Safety for Robotics, 2021

Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

A Dual Doctor-Patient Twin Paradigm for Transparent Remote Examination, Diagnosis, and Rehabilitation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Coordinated Motion Generation and Object Placement: A Reactive Planning and Landing Approach.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Drawing Elon Musk: A Robot Avatar for Remote Manipulation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Reactive Cooperative Manipulation based on Set Primitives and Circular Fields.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Modular ROS-based software architecture for reconfigurable, Industry 4.0 compatible robotic workcells.
Proceedings of the 20th International Conference on Advanced Robotics, 2021

An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control.
Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021

2020
Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks.
IEEE Robotics Autom. Lett., 2020

Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing.
IEEE Robotics Autom. Lett., 2020

Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators.
IEEE Robotics Autom. Lett., 2020

An embedded ethics approach for AI development.
Nat. Mach. Intell., 2020

Simultaneous contact and aerodynamic force estimation (s-CAFE) for aerial robots.
Int. J. Robotics Res., 2020

How to Make Deep RL Work in Practice.
CoRR, 2020

Feeling the True Force in Haptic Telepresence for Flying Robots.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Multi-Level Structure vs. End-to-End-Learning in High-Performance Tactile Robotic Manipulation.
Proceedings of the 4th Conference on Robot Learning, 2020

Learning Vision-based Reactive Policies for Obstacle Avoidance.
Proceedings of the 4th Conference on Robot Learning, 2020

2019
Tactile Robots as a Central Embodiment of the Tactile Internet.
Proc. IEEE, 2019

Energy-based Adaptive Control and Learning for Patient-Aware Rehabilitation.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

The Role of Robot Payload in the Safety Map Framework.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Joint Velocity and Acceleration Estimation in Serial Chain Rigid Body and Flexible Joint Manipulators.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task.
Proceedings of the International Conference on Robotics and Automation, 2019

Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype.
Proceedings of the International Conference on Robotics and Automation, 2019

A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control.
Proceedings of the International Conference on Robotics and Automation, 2019

Dentronics: Review, First Concepts and Pilot Study of a New Application Domain for Collaborative Robots in Dental Assistance.
Proceedings of the International Conference on Robotics and Automation, 2019

Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-Robot Collaboration.
Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

Tracking Holistic Object Representations.
Proceedings of the 30th British Machine Vision Conference 2019, 2019

2018
Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification.
IEEE Trans. Robotics, 2018

Exploiting Elastic Energy Storage for "Blind" Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling.
IEEE Trans. Robotics, 2018

CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists.
IEEE Robotics Autom. Lett., 2018

Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties.
IEEE Robotics Autom. Lett., 2018

Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task.
Proceedings of the 2018 IEEE International Conference on Simulation, 2018

Passivity Based Iterative Learning of Admittance-Coupled Dynamic Movement Primitives for Interaction with Changing Environments.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

The Art of Manipulation: Learning to Manipulate Blindly.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Smooth Point-to-Point Trajectory Planning in $SE$ (3)with Self-Collision and Joint Constraints Avoidance.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

FOP Networks for Learning Humanoid Body Schema and Dynamics.
Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands.
Proceedings of the Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, 2018

Identification of Human Shoulder-Arm Kinematic and Muscular Synergies During Daily-Life Manipulation Tasks.
Proceedings of the 7th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2018

Valve-based Virtual Energy Tanks: A Framework to Simultaneously Passify Controls and Embed Control Objectives.
Proceedings of the 2018 Annual American Control Conference, 2018

2017
External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots.
IEEE Trans. Robotics, 2017

Robot Collisions: A Survey on Detection, Isolation, and Identification.
IEEE Trans. Robotics, 2017

An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts.
IEEE Robotics Autom. Lett., 2017

A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes.
IEEE Robotics Autom. Lett., 2017

Passivitätsbasierte Kraft- und Impedanzregelung für Roboter mit starren Gelenken mittels Energietanks.
Autom., 2017

Wie programmiert man die neue Robotergeneration - und wie lernt man das im Studium?
Proceedings of the Software Engineering 2017, 2017

Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms.
Proceedings of the Robotics Research, The 18th International Symposium, 2017

Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Collision detection, isolation and identification for humanoids.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Adapting to contacts: Energy tanks and task energy for passivity-based dynamic movement primitives.
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

First-order-principles-based constructive network topologies: An application to robot inverse dynamics.
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016
Physical Human-Robot Interaction.
Proceedings of the Springer Handbook of Robotics, 2016

A tool for the evaluation of human lower arm injury: approach, experimental validation and application to safe robotics.
Robotica, 2016

Antagonistic Impedance Control for Pneumatically Actuated Robot Joints.
IEEE Robotics Autom. Lett., 2016

Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

The flying anemometer: Unified estimation of wind velocity from aerodynamic power and wrenches.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Maximal input limits for independent SISO control in modal space under consideration of actuator constraints.
Proceedings of the 2016 American Control Conference, 2016

2015
Collision analysis and safety evaluation using a collision model for the frontal robot-human impact.
Robotica, 2015

An assistive decision-and-control architecture for force-sensitive hand-arm systems driven by human-machine interfaces.
Int. J. Robotics Res., 2015

Physical Safety in Robotics.
Proceedings of the Formal Modeling and Verification of Cyber-Physical Systems, 2015

Robotic agents capable of natural and safe physical interaction with human co-workers.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Simultaneous estimation of aerodynamic and contact forces in flying robots: Applications to metric wind estimation and collision detection.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

A comparison of braking strategies for elastic joint robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Using tactile sensation for learning contact knowledge: Discriminate collision from physical interaction.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Modeling, identification and joint impedance control of the atlas arms.
Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots, 2015

2014
Towards Safe Robots - Approaching Asimov's 1st Law
Springer Tracts in Advanced Robotics 90, Springer, ISBN: 978-3-642-40307-1, 2014

Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion.
Autom., 2014

A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Learning quadrotor maneuvers from optimal control and generalizing in real-time.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Collision avoidance with potential fields based on parallel processing of 3D-point cloud data on the GPU.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Optimal control of elastic joints with variable damping.
Proceedings of the 13th European Control Conference, 2014

2013
Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints.
IEEE Trans. Robotics, 2013

Variable impedance actuators: A review.
Robotics Auton. Syst., 2013

It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning.
Proceedings of the Computer Safety, Reliability, and Security, 2013

Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time.
Proceedings of the Robotics Research, 2013

Dynamic optimality in real-time: A learning framework for near-optimal robot motions.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Optimal control for maximizing link velocity of visco-elastic joints.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

First analysis and experiments in aerial manipulation using fully actuated redundant robot arm.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Evaluation of human safety in the DLR Robotic Motion Simulator using a crash test dummy.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012
Rigid 3D geometry matching for grasping of known objects in cluttered scenes.
Int. J. Robotics Res., 2012

On making robots understand safety: Embedding injury knowledge into control.
Int. J. Robotics Res., 2012

Editorial.
Int. J. Robotics Res., 2012

The hand of the DLR Hand Arm System: Designed for interaction.
Int. J. Robotics Res., 2012


Rigid vs. elastic actuation: Requirements & performance.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Intrinsically elastic robots: The key to human like performance.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

A truly safely moving robot has to know what injury it may cause.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Optimal torque and stiffness control in compliantly actuated robots.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Optimal control for exploiting the natural dynamics of Variable Stiffness robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

A versatile biomimetic controller for contact tooling and haptic exploration.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Optimal control for maximizing potential energy in a variable stiffness joint.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

2011
Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions.
IEEE Trans. Robotics, 2011

Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

A human-centered approach to robot gesture based communication within collaborative working processes.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011


Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling.
Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011

Safe acting and manipulation in human environments: A key concept for robots in our society.
Proceedings of the Advanced Robotics and its Social Impacts, 2011

2010
Safety Analysis for a Human-Friendly Manipulator.
Int. J. Soc. Robotics, 2010

Konzepte für den Roboterassistenten der Zukunft (Towards the Robotic Co-Worker).
Autom., 2010

The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing.
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

Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System.
Proceedings of the Experimental Robotics, 2010

Real-time reactive motion generation based on variable attractor dynamics and shaped velocities.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Holistic design and analysis for the human-friendly robotic co-worker.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

New insights concerning intrinsic joint elasticity for safety.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Cooperative bin-picking with Time-of-Flight camera and impedance controlled DLR lightweight robot III.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

The driver concept for the DLR lightweight robot III.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Soft-tissue injury in robotics.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Dynamic modelling and control of variable stiffness actuators.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009
Kick it with elasticity: Safety and performance in human-robot soccer.
Robotics Auton. Syst., 2009

Requirements for Safe Robots: Measurements, Analysis and New Insights.
Int. J. Robotics Res., 2009

Towards the Robotic Co-Worker.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

The "DLR Crash Report": Towards a standard crash-testing protocol for robot safety - Part I: Results.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

The "DLR crash report": Towards a standard crash-testing protocol for robot safety - Part II: Discussions.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008
Soft robotics.
IEEE Robotics Autom. Mag., 2008

Collision detection and reaction: A contribution to safe physical Human-Robot Interaction.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Injury evaluation of human-robot impacts.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

The role of the robot mass and velocity in physical human-robot interaction - Part II: Constrained blunt impacts.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

2007
The DLR lightweight robot: design and control concepts for robots in human environments.
Ind. Robot, 2007

Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing.
Proceedings of the Robotics: Science and Systems III, 2007

Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights.
Proceedings of the Robotics Research - The 13th International Symposium, 2007

A humanoid upper body system for two-handed manipulation.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

2006
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006


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