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ORCIDSami Haddadin
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- affiliation: Technical University Munich, Germany
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2020 – today
- 2024
[j68]Nikolas J. Wilhelm
, Claudio E. von Schacky, Felix J. Lindner, Matthias J. Feucht, Yannick Ehmann, Jonas Pogorzelski, Sami Haddadin, Jan Neumann, Florian Hinterwimmer, Rüdiger von Eisenhart-Rothe, Matthias Jung, Maximilian F. Russe, Kaywan Izadpanah, Sebastian Siebenlist, Rainer Burgkart, Marco-Christopher Rupp:
Multicentric development and validation of a multi-scale and multi-task deep learning model for comprehensive lower extremity alignment analysis. Artif. Intell. Medicine 150: 102843 (2024)- [j67]Alexander Toedtheide, Edmundo Pozo Fortunic, Johannes Kühn, Elisabeth Rose Jensen, Sami Haddadin:
A transhumeral prosthesis with an artificial neuromuscular system: Sim2real-guided design, modeling, and control. Int. J. Robotics Res. 43(7): 942-980 (2024) - [j66]Simone Nertinger, Robin Jeanne Kirschner, Abdeldjallil Naceri, Sami Haddadin:
Acceptance of Remote Assistive Robots with and without Human-in-the-Loop for Healthcare Applications. Int. J. Soc. Robotics 16(6): 1131-1150 (2024) - [j65]Johannes Kühn, Tingli Hu, Alexander Toedtheide, Edmundo Pozo Fortunic, Elisabeth Rose Jensen, Sami Haddadin:
The synergy complement control approach for seamless limb-driven prostheses. Nat. Mac. Intell. 6(4): 481-492 (2024) - [j64]Haowen Yao, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin:
Enhanced Dexterity Maps (EDM): A New Map for Manipulator Capability Analysis. IEEE Robotics Autom. Lett. 9(2): 1628-1635 (2024) - [j63]Junnan Li, Amartya Ganguly, Luis F. C. Figueredo, Sami Haddadin:
The Fingertip Manipulability Assessment of Tendon-Driven Multi-Fingered Hands. IEEE Robotics Autom. Lett. 9(3): 2726-2733 (2024) - [j62]Kangwagye Samuel, Kevin Haninger, Roberto Oboe, Sami Haddadin, Sehoon Oh:
A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload. IEEE Robotics Autom. Lett. 9(7): 6432-6439 (2024) - [j61]Sergi Molina Mellado, Anna Mannucci, Martin Magnusson, Daniel Adolfsson, Henrik Andreasson, Mazin Hamad, Saeed Abdolshah, Ravi Teja Chadalavada, Luigi Palmieri, Timm Linder, Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, Marc Hanheide, Manuel Fernández-Carmona, Grzegorz Cielniak, Tom Duckett, Federico Pecora, Simon Bokesand, Kai O. Arras, Sami Haddadin, Achim J. Lilienthal:
The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots. IEEE Robotics Autom. Mag. 31(3): 48-59 (2024) - [j60]Marvin Becker, Johannes Köhler, Sami Haddadin, Matthias Albrecht Müller:
Motion Planning Using Reactive Circular Fields: A 2-D Analysis of Collision Avoidance and Goal Convergence. IEEE Trans. Autom. Control. 69(3): 1552-1567 (2024) - [j59]Riddhiman Laha, Marvin Becker, Jonathan Vorndamme, Juraj Vrabel, Luis F. C. Figueredo, Matthias Albrecht Müller, Sami Haddadin:
Predictive Multi-Agent-Based Planning and Landing Controller for Reactive Dual-Arm Manipulation. IEEE Trans. Robotics 40: 864-885 (2024) - [c185]Ali Aminzadeh, Abdalla Swikir, Sami Haddadin, Abolfazl Lavaei:
Compositional Safety Verification of Infinite Networks: A Data-Driven Approach. ECC 2024: 545-551 - [c184]Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin:
Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control. ICRA 2024: 204-210 - [c183]Jon Arrizabalaga, Lukas Pries, Riddhiman Laha, Runkang Li, Sami Haddadin, Markus Ryll:
Geometric Slosh-Free Tracking for Robotic Manipulators. ICRA 2024: 1226-1232 - [c182]Daniel Pérez-Suay, Yu Li, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin:
Torque Transmission in Double-Tendon Sheath Driven Actuators for Application in Exoskeletons. ICRA 2024: 4751-4757 - [c181]Finn L. Busch, Nathalie Bauschmann, Sami Haddadin, Robert Seifried, Daniel A Duecker:
Predicting against the Flow: Boosting Source Localization by Means of Field Belief Modeling using Upstream Source Proximity. ICRA 2024: 6254-6259 - [c180]Nikolas J. Wilhelm, Sami Haddadin, Rainer Burgkart, Patrick van der Smagt, Maximilian Karl:
Accurate Kinematic Modeling using Autoencoders on Differentiable Joints. ICRA 2024: 7122-7128 - [c179]Alexander Moortgat-Pick, Marie Schwahn, Anna Adamczyk, Daniel A Duecker, Sami Haddadin:
Autonomous UAV Mission Cycling: A Mobile Hub Approach for Precise Landings and Continuous Operations in Challenging Environments. ICRA 2024: 8450-8456 - [c178]Dennis Ossadnik, Vasilije Rakcevic, Mehmet Can Yildirim, Edmundo Pozo Fortunic, Hugo T. M. Kussaba, Abdalla Swikir, Sami Haddadin:
Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach. ICRA 2024: 11481-11487 - [c177]Fabian Jakob, Xiao Chen, Hamid Sadeghian, Sami Haddadin:
Enhancing the Tracking Performance of Passivity-based High-Frequency Robot Cloud Control. ICRA 2024: 12097-12103 - [c176]Robin Jeanne Kirschner, Carina M. Micheler, Yangcan Zhou, Sebastian Siegner, Mazin Hamad, Claudio Glowalla, Jan Neumann, Nader Rajaei, Rainer Burgkart, Sami Haddadin:
Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database. ICRA 2024: 12680-12687 - [c175]Felix Eberle, Riddhiman Laha, Haowen Yao, Abdeldjallil Naceri, Luis F. C. Figueredo, Sami Haddadin:
RETOM: Leveraging Maneuverability for Reactive Tool Manipulation using Wrench-Fields. ICRA 2024: 13178-13184 - [c174]Jon Skerlj, Mazin Hamad, Jean Elsner, Abdeldjallil Naceri, Sami Haddadin:
Safe-By-Design Digital Twins for Human-Robot Interaction: A Use Case for Humanoid Service Robots. ICRA 2024: 13369-13375 - [c173]Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin:
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions. ICRA 2024: 13376-13382 - [c172]Kejia Chen, Zhenshan Bing, Yansong Wu, Fan Wu, Liding Zhang, Sami Haddadin, Alois Knoll:
Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints. ICRA 2024: 13833-13839 - [c171]Lingyun Chen, Abdeldjallil Naceri, Abdalla Swikir, Sandra Hirche, Sami Haddadin:
Autonomous and Teleoperation Control of a Drawing Robot Avatar. ICRA 2024: 15714-15720 - [c170]Yansong Wu, Fan Wu, Lingyun Chen, Kejia Chen, Samuel Schneider, Lars Johannsmeier, Zhenshan Bing, Fares J. Abu-Dakka, Alois Knoll, Sami Haddadin:
1 kHz Behavior Tree for Self-adaptable Tactile Insertion. ICRA 2024: 16002-16008 - [c169]Martin Schonger, Hugo T. M. Kussaba, Lingyun Chen, Luis Figueredo, Abdalla Swikir, Aude Billard, Sami Haddadin:
Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots. ICRA 2024: 17201-17207 - [c168]Peter So, Rafael I. Cabral Muchacho, Robin Jeanne Kirschner, Abdalla Swikir, Luis Figueredo, Fares J. Abu-Dakka, Sami Haddadin:
CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation. ICRA 2024: 17501-17507 - [c167]Nikolas J. Wilhelm, Claudio Glowalla, Sami Haddadin, Julian Schote, Hannes Höppner, Patrick van der Smagt, Maximilian Karl, Rainer Burgkart:
Design and Implementation of a Robotic Testbench for Analyzing Pincer Grip Execution in Human Specimen Hands. ICRA 2024: 18465-18471 - [i57]Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin:
Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk. CoRR abs/2401.08282 (2024) - [i56]Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin:
ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk. CoRR abs/2401.08292 (2024) - [i55]Kejia Chen, Zhenshan Bing, Yansong Wu, Fan Wu, Liding Zhang, Sami Haddadin, Alois Knoll:
Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints. CoRR abs/2401.17154 (2024) - [i54]Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo, Sami Haddadin:
Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC. CoRR abs/2402.05037 (2024) - [i53]Jon Arrizabalaga, Lukas Pries, Riddhiman Laha, Runkang Li, Sami Haddadin, Markus Ryll:
Geometric Slosh-Free Tracking for Robotic Manipulators. CoRR abs/2402.05197 (2024) - [i52]Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin:
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions. CoRR abs/2403.05447 (2024) - [i51]Martin Schonger, Hugo T. M. Kussaba, Lingyun Chen, Luis Figueredo, Abdalla Swikir, Aude Billard, Sami Haddadin:
Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots. CoRR abs/2403.08178 (2024) - [i50]Robin Jeanne Kirschner, Carina Micheler, Yangcan Zhou, Sebastian Siegner, Mazin Hamad, Claudio Glowalla, Jan Neumann, Nader Rajaei, Rainer Burgkart, Sami Haddadin:
Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database. CoRR abs/2404.04004 (2024) - [i49]Alexander Moortgat-Pick, Anna Adamczyk, Daniel A Duecker, Sami Haddadin:
SVan: A Mobile Hub as a Field Robotics Development and Deployment Platform. CoRR abs/2405.03890 (2024) - [i48]Dennis Ossadnik, Vasilije Rakcevic, Mehmet C. Yildirim, Edmundo Pozo Fortunic, Hugo T. M. Kussaba, Abdalla Swikir, Sami Haddadin:
Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach. CoRR abs/2407.12655 (2024) - [i47]Lingyun Chen, Abdeldjallil Naceri, Abdalla Swikir, Sandra Hirche, Sami Haddadin:
Autonomous and Teleoperation Control of a Drawing Robot Avatar. CoRR abs/2407.20156 (2024) - [i46]Sonja Groß, Michael Ratzel, Edgar Welte, Diego Hidalgo-Carvajal, Lingyun Chen, Edmundo Pozo Fortunic, Amartya Ganguly, Abdalla Swikir, Sami Haddadin:
OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism. CoRR abs/2408.02293 (2024) - [i45]Robin Jeanne Kirschner, Jinyu Yang, Edonis Elshani, Carina M. Micheler, Tobias Leibbrand, Dirk Müller, Claudio Glowalla, Nader Rajaei, Rainer Burgkart, Sami Haddadin:
Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand. CoRR abs/2408.06175 (2024) - [i44]Christopher Herneth, Junnan Li, Muhammad Hilman Fatoni, Amartya Ganguly, Sami Haddadin:
Object Augmentation Algorithm: Computing virtual object motion and object induced interaction wrench from optical markers. CoRR abs/2408.07434 (2024) - [i43]Anran Zhang, Kübra Karacan, Hamid Sadeghian, Yansong Wu, Fan Wu, Sami Haddadin:
Tactile-Morph Skills: Energy-Based Control Meets Data-Driven Learning. CoRR abs/2408.12285 (2024) - [i42]Junnan Li, Lingyun Chen, Johannes Ringwald, Edmundo Pozo Fortunic, Amartya Ganguly, Sami Haddadin:
Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger. CoRR abs/2408.13044 (2024) - [i41]Kübra Karacan, Anran Zhang, Hamid Sadeghian, Fan Wu, Sami Haddadin:
Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control. CoRR abs/2408.14219 (2024) - [i40]Christopher Herneth, Amartya Ganguly, Sami Haddadin:
Functional kinematic and kinetic requirements of the upper limb during activities of daily living: a recommendation on necessary joint capabilities for prosthetic arms. CoRR abs/2408.14361 (2024) - [i39]Lingyun Chen, Haoyu Yu, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin:
Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D. CoRR abs/2408.16420 (2024) - [i38]Muhammad Hilman Fatoni, Christopher Herneth, Junnan Li, Fajar Budiman, Amartya Ganguly, Sami Haddadin:
Optimizing Interaction Space: Enlarging the Capture Volume for Multiple Portable Motion Capture Devices. CoRR abs/2408.17287 (2024) - [i37]Jicong Ao, Yansong Wu, Fan Wu, Sami Haddadin:
Behavior Tree Generation using Large Language Models for Sequential Manipulation Planning with Human Instructions and Feedback. CoRR abs/2409.09435 (2024) - [i36]Jicong Ao, Fan Wu, Yansong Wu, Abdalla Swikir, Sami Haddadin:
LLM as BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning. CoRR abs/2409.10444 (2024) - [i35]Junewhee Ahn, Jaesug Jung, Yisoo Lee, Hokyun Lee, Sami Haddadin, Jaeheung Park:
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics. CoRR abs/2409.10903 (2024) - [i34]Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Alois Knoll, Sami Haddadin:
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation. CoRR abs/2409.11047 (2024) - [i33]Kejia Chen, Zheng Shen, Yue Zhang, Lingyun Chen, Fan Wu, Zhenshan Bing, Sami Haddadin, Alois Knoll:
Learning Task Planning from Multi-Modal Demonstration for Multi-Stage Contact-Rich Manipulation. CoRR abs/2409.11863 (2024) - 2023
- [j58]Johannes Ringwald, Samuel Schneider, Lingyun Chen, Dennis Knobbe, Lars Johannsmeier, Abdalla Swikir, Sami Haddadin:
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics. IEEE Robotics Autom. Lett. 8(3): 1866-1873 (2023) - [j57]Leilaalsadat Pezeshki, Hamid Sadeghian, Mehdi Keshmiri, Xiao Chen, Sami Haddadin:
Cooperative Assist-as-Needed Control for Robotic Rehabilitation: A Two-Player Game Approach. IEEE Robotics Autom. Lett. 8(5): 2852-2859 (2023) - [j56]Benn Proper, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin, Alessandro Saccon:
Aim-Aware Collision Monitoring: Discriminating Between Expected and Unexpected Post-Impact Behaviors. IEEE Robotics Autom. Lett. 8(8): 4609-4616 (2023) - [j55]Juan Heredia, Robin Jeanne Kirschner, Christian Schlette, Saeed Abdolshah, Sami Haddadin, Mikkel Baun Kjærgaard:
ECDP: Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots. IEEE Robotics Autom. Lett. 8(10): 6107-6114 (2023) - [j54]Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma Carolina Bettelani, Jaesug Jung, Melissa Zavaglia, Laura Busse, Abdeldjallil Naceri, Stefan Leutenegger, Sami Haddadin:
Anthropomorphic Grasping With Neural Object Shape Completion. IEEE Robotics Autom. Lett. 8(12): 8034-8041 (2023) - [j53]Edmundo Pozo Fortunic, Mehmet Can Yildirim, Dennis Ossadnik, Abdalla Swikir, Saeed Abdolshah, Sami Haddadin:
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept. IEEE Robotics Autom. Lett. 8(12): 8106-8113 (2023) - [j52]Johannes Ringwald, Shaochuan Zong, Abdalla Swikir, Sami Haddadin:
Automatic Gripper-Finger Design, Production, and Application: Toward Fast and Cost-Effective Small-Batch Production. IEEE Robotics Autom. Mag. 30(2): 46-56 (2023) - [j51]Fernando Diaz Ledezma, Sami Haddadin:
Machine learning-driven self-discovery of the robot body morphology. Sci. Robotics 8(85) (2023) - [j50]Nikolas J. Wilhelm, Constantin von Deimling, Sami Haddadin, Claudio Glowalla, Rainer Burgkart:
Validation of a Robotic Testbench for Evaluating Biomechanical Effects of Implant Rotation in Total Knee Arthroplasty on a Cadaveric Specimen. Sensors 23(17): 7459 (2023) - [j49]Alexander Toedtheide, Edmundo Pozo Fortunic, Johannes Kühn, Elisabeth Rose Jensen, Sami Haddadin:
A Wearable Force-Sensitive and Body-Aware Exoprosthesis for a Transhumeral Prosthesis Socket. IEEE Trans. Robotics 39(3): 2203-2223 (2023) - [j48]Mazin Hamad, Alexander Kurdas, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots. IEEE Trans. Robotics 39(4): 3200-3221 (2023) - [c166]Simone Nertinger, Robin Jeanne Kirschner, Saeed Abdolshah, Abdeldjallil Naceri, Sami Haddadin:
Influence of robot motion and human factors on users' perceived safety in HRI. ARSO 2023: 46-52 - [c165]Jon Skerlj, Maximilian Braun, Sophia Witz, Svenja Breuer, Marieke Bak, Sebastian Scholz, Abdeldjallil Naceri, Ruth Müller, Sami Haddadin, Iris Eisenberger:
Data Recording for Responsible Robotics. ARSO 2023: 103-109 - [c164]Andreas Frotzscher, Xiao Chen, Duy Lam Tran, Thore Goll, Hamid Sadeghian, Fan Wu, Martin Dehmel, Tommy Wohlfahrt, Matthias Riedl, Sami Haddadin:
Self-Organization and Collaboration in Robotic Manufacturing Systems. CASE 2023: 1-6 - [c163]Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin:
The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control. CDC 2023: 4745-4752 - [c162]Viktorija Dimova-Edeleva, Oscar Soto Rivera, Riddhiman Laha, Luis F. C. Figueredo, Melissa Zavaglia, Sami Haddadin:
Error-related Potentials in a Virtual Pick-and-Place Experiment: Toward Real-world Shared-control. EMBC 2023: 1-7 - [c161]Diego Hidalgo-Carvajal, Abdeldjallil Naceri, Sami Haddadin:
From Human Hand to Grasp Surface Detection, Tracking & Analysis. EMBC 2023: 1-6 - [c160]Kim K. Peper, Alexander Aasmann, Elisabeth Rose Jensen, Sami Haddadin:
Real-Time-Capable Muscle Force Estimation for Monitoring Robotic Rehabilitation Therapy in the Intensive Care Unit. EMBC 2023: 1-6 - [c159]Ioannis Xygonakis, Melissa Zavaglia, Sami Haddadin:
Robust Independent Component Analysis based EMG decomposition - a comparison study. EMBC 2023: 1-5 - [c158]Mazin Hamad, Simone Nertinger, Robin Jeanne Kirschner, Luis Figueredo, Abdeldjallil Naceri, Sami Haddadin:
A Concise Overview of Safety Aspects in Human-Robot Interaction. HFR 2023: 1-18 - [c157]Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo, Sami Haddadin:
Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC. HFR 2023: 164-180 - [c156]Junnan Li, Amartya Ganguly, Luis F. C. Figueredo, Sami Haddadin:
Tendon to Object Space: Evaluation of Anthropomorphic Finger for Human-Like Performance. HFR 2023: 196-212 - [c155]Seongjin Bien, Jon Skerlj, Paul Thiel, Felix Eberle, Mario Tröbinger, Christian Stolle, Luis Figueredo, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin:
Human-Inspired Audiovisual Inducement of Whole-Body Responses. Humanoids 2023: 1-8 - [c154]Mehmet Can Yildirim, Edgar Alejandro Pisano, Mazin Hamad, Valentin Le Mesle, Abdalla Swikir, Sami Haddadin:
A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading. Humanoids 2023: 1-8 - [c153]Elisabeth Rose Jensen, Reihaneh Mirjalili, Kim K. Peper, Dennis Ossadnik, Fan Wu, Jan Josef Lang, Matthias Martin, Florian Hetfleisch, Rainer Burgkart, Sami Haddadin:
Individualized Training of Back Muscles Using Iterative Learning Control of a Compliant Balance Board. ICORR 2023: 1-6 - [c152]Hossein Kavianirad, Moein Forouhar, Hamid Sadeghian, Satoshi Endo, Sami Haddadin, Sandra Hirche:
Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation. ICORR 2023: 1-6 - [c151]Simone Nertinger, Neha Das, Satoshi Endo, Abdeldjallil Naceri, Sandra Hirche, Sami Haddadin:
Assessing Human-Human Kinematics for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A Pilot Study. ICORR 2023: 1-6 - [c150]Kim K. Peper, Elisabeth Rose Jensen, Sami Haddadin:
Estimating Joint Kinematics and Muscles Forces During Robotic Rehabilitation to Detect and Counteract Reduced Ankle Mobility. ICORR 2023: 1-6 - [c149]Xiao Chen, Hamid Sadeghian, Lingyun Chen, Mario Tröbinger, Abadalla Swirkir, Abdeldjallil Naceri, Sami Haddadin:
A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud. ICRA 2023: 5242-5248 - [c148]Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Sai Vemprala, Rogerio Bonatti:
LATTE: LAnguage Trajectory TransformEr. ICRA 2023: 7287-7294 - [c147]Mario Tröbinger, Abdeldjallil Naceri, Xiao Chen, Hamid Sadeghian, Sami Haddadin:
Identification of a Generalized Base Inertial Parameter Set of Robotic Manipulators Considering Mounting Configurations. ICRA 2023: 11502-11508 - [c146]Sonja Groß, Diego Hidalgo-Carvajal, Silija Breimann, Nicolai Stein, Amartya Ganguly, Abdeldjallil Naceri, Sami Haddadin:
Soft Sensing Skins for Arbitrary Objects: An Automatic Framework. ICRA 2023: 12507-12513 - [c145]Alexander Toedtheide, Xiao Chen, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin:
A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics. ICRA 2023: 12624-12630 - [c144]Riddhiman Laha, Wenxi Wu, Ruiai Sun, Nico Mansfeld, Luis F. C. Figueredo, Sami Haddadin:
S*: On Safe and Time Efficient Robot Motion Planning. ICRA 2023: 12758-12764 - [c143]Kejia Chen, Zhenshan Bing, Fan Wu, Yuan Meng, André Kraft, Sami Haddadin, Alois Knoll:
Contact-Aware Shaping and Maintenance of Deformable Linear Objects With Fixtures. IROS 2023: 1-8 - [c142]Seyed Ali Baradaran Birjandi, Harshit Khurana, Aude Billard, Sami Haddadin:
A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration. IROS 2023: 346-353 - [c141]Juan Heredia, Robin Jeanne Kirschner, Christian Schlette, Saeed Abdolshah, Sami Haddadin, Mikkel Baun Kjærgaard:
Labelling Lightweight Robot Energy Consumption: A Mechatronics-Based Benchmarking Metric Set. IROS 2023: 1789-1796 - [c140]Moritz Eckhoff, Dennis Knobbe, Henning Zwirnmann, Abdalla Swikir, Sami Haddadin:
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles. IROS 2023: 2354-2361 - [c139]Florian Voigt, Abdeldjallil Naceri, Sami Haddadin:
I2mpedance - A Passivity Based Integrative Impedance Controller for Precise and Compliant Manipulation and Interaction. IROS 2023: 4472-4479 - [c138]Henning Zwirnmann, Dennis Knobbe, Utku Culha, Sami Haddadin:
Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers*. IROS 2023: 6823-6830 - [c137]Rafael I. Cabral Muchacho, Seongjin Bien, Riddhiman Laha, Abdeldjallil Naceri, Luis F. C. Figueredo, Sami Haddadin:
Shared Autonomy Control for Slosh-Free Teleoperation. IROS 2023: 10676-10683 - [c136]Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjien Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard:
Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments. ISM 2023: 260-261 - [c135]Olivia Herzog, Simone Nertinger, Katharina Wenzel, Abdeldjallil Naceri, Sami Haddadin, Klaus Bengler:
Assessing Perceived Discomfort and Proxemic Behavior towards Robots: A Comparative Study between Real and Augmented Reality Presentations. RO-MAN 2023: 959-965 - [c134]Simone Nertinger, Abdeldjallil Naceri, Sami Haddadin:
Identifying Requirements for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A user-centered design approach. RO-MAN 2023: 2316-2321 - [i32]Henning Zwirnmann, Dennis Knobbe, Utku Culha, Sami Haddadin:
Dual-Material 3D-Printed PaCoMe-Like Fingers for Flexible Biolaboratory Automation. CoRR abs/2302.03644 (2023) - [i31]Hugo Tadashi M. Kussaba, Abdalla Swikir, Fan Wu, Anastasija Demerdjieva, Gitta Kutyniok, Sami Haddadin:
Learning optimal controllers: a dynamical motion primitive approach. CoRR abs/2306.06520 (2023) - [i30]Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba, Nico Mansfeld, Saeed Abdolshah, Abdalla Swikir, Wolfram Burgard, Sami Haddadin:
Fast yet predictable braking manoeuvers for real-time robot control. CoRR abs/2306.06525 (2023) - [i29]Philipp Wicke, Lütfi Kerem Senel, Shengqiang Zhang, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin, Hinrich Schütze:
Towards Language-Based Modulation of Assistive Robots through Multimodal Models. CoRR abs/2306.14830 (2023) - [i28]Kejia Chen, Zhenshan Bing, Fan Wu, Yuan Meng, André Kraft, Sami Haddadin, Alois Knoll:
Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures. CoRR abs/2307.10153 (2023) - [i27]Moritz Eckhoff, Dennis Knobbe, Henning Zwirnmann, Abdalla Swikir, Sami Haddadin:
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles. CoRR abs/2309.06873 (2023) - [i26]Edmundo Pozo Fortunic, Mehmet Can Yildirim, Dennis Ossadnik, Abdalla Swikir, Saeed Abdolshah, Sami Haddadin:
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept. CoRR abs/2309.07873 (2023) - [i25]Mazin Hamad, Simone Nertinger, Robin Jeanne Kirschner, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin:
A Concise Overview of Safety Aspects in Human-Robot Interaction. CoRR abs/2309.09936 (2023) - [i24]Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjin Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard:
Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments. CoRR abs/2310.05600 (2023) - [i23]Shengqiang Zhang, Philipp Wicke, Lütfi Kerem Senel, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin, Barbara Plank, Hinrich Schütze:
LoHoRavens: A Long-Horizon Language-Conditioned Benchmark for Robotic Tabletop Manipulation. CoRR abs/2310.12020 (2023) - [i22]Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll:
Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach for Informed Sampling-Based Planner. CoRR abs/2310.12828 (2023) - [i21]Sonja Groß, Amartya Ganguly, Hendrik Dietz, Sami Haddadin:
The Next Evolution of Artificial Sense of Touch. CoRR abs/2310.16641 (2023) - [i20]Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma Carolina Bettelani, Jaesug Jung, Melissa Zavaglia, Laura Busse, Abdeldjallil Naceri, Stefan Leutenegger, Sami Haddadin:
Anthropomorphic Grasping with Neural Object Shape Completion. CoRR abs/2311.02510 (2023) - 2022
- [j47]Jean Elsner, Gerhard Reinerth, Luis F. C. Figueredo, Abdeldjallil Naceri, Ulrich Walter, Sami Haddadin:
PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications. Frontiers Virtual Real. 3 (2022) - [j46]Erfan Shahriari, Seyed Ali Baradaran Birjandi, Sami Haddadin:
Passivity-Based Adaptive Force-Impedance Control for Modular Multi-Manual Object Manipulation. IEEE Robotics Autom. Lett. 7(2): 2194-2201 (2022) - [j45]Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction. IEEE Robotics Autom. Lett. 7(2): 2993-3000 (2022) - [j44]Diego Hidalgo-Carvajal, Christopher Herneth, Abdeldjallil Naceri, Sami Haddadin:
End-to-End From Human Hand Synergies to Robot Hand Tendon Routing. IEEE Robotics Autom. Lett. 7(4): 10057-10064 (2022) - [j43]Abdeldjallil Naceri, Jean Elsner, Mario Tröbinger, Hamid Sadeghian, Lars Johannsmeier, Florian Voigt, Xiao Chen, Daniela Macari, Christoph Jähne, Maximilian Berlet, Jonas Fuchtmann, Luis F. C. Figueredo, Hubertus Feußner, Dirk Wilhelm, Sami Haddadin:
Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study. IEEE Robotics Autom. Lett. 7(4): 10296-10303 (2022) - [j42]Sami Haddadin, Sven Parusel, Lars Johannsmeier, Saskia Golz, Simon Gabl, Florian Walch, Mohamadreza Sabaghian, Christoph Jähne, Lukas Hausperger, Simon Haddadin:
The Franka Emika Robot: A Reference Platform for Robotics Research and Education. IEEE Robotics Autom. Mag. 29(2): 46-64 (2022) - [j41]Nikolas Jakob Wilhelm, Sami Haddadin, Jan Josef Lang, Carina Micheler, Florian Hinterwimmer, Anselm Reiners, Rainer Burgkart, Claudio Glowalla:
Development of an Exoskeleton Platform of the Finger for Objective Patient Monitoring in Rehabilitation. Sensors 22(13): 4804 (2022) - [c133]Edmundo Pozo Fortunic, Abdalla Swikir, Saeed Abdolsah, Sami Haddadin:
Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-Emf. ACC 2022: 2546-2552 - [c132]Nico Mansfeld, Guillermo Gómez Peña, Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin:
Global Safety Characteristics of Wheeled Mobile Manipulators. CASE 2022: 2245-2252 - [c131]Rachele Nebbia Colomba, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin:
Adaptive Admittance Control for Cooperative Manipulation using Dual Quaternion Representation and Logarithmic Mapping. CDC 2022: 107-144 - [c130]Jonathan Vorndamme, João Carvalho, Riddhiman Laha, Dorothea Koert, Luis F. C. Figueredo, Jan Peters, Sami Haddadin:
Integrated Bi-Manual Motion Generation and Control shaped for Probabilistic Movement Primitives. Humanoids 2022: 202-209 - [c129]Diego Hidalgo-Carvajal, Carlos Magno C. O. Valle, Abdeldjallil Naceri, Sami Haddadin:
Object-Centric Grasping Transferability: Linking Meshes to Postures. Humanoids 2022: 659-666 - [c128]Petr Svarný, Mazin Hamad, Alexander Kurdas, Matej Hoffmann, Saeed Abdolshah, Sami Haddadin:
Functional Mode Switching for Safe and Efficient Human-Robot Interaction. Humanoids 2022: 888-894 - [c127]Kim K. Peper, Dinmukhamed Zardykhan, Marion Egger, Martina Steinböck, Friedemann Müller, Xavier Hildenbrand, Alexander Koenig, Elisabeth Rose Jensen, Sami Haddadin:
Testing robot-based assist-as-needed therapy for improving active participation of a patient during early neurorehabilitation: a case study. ICORR 2022: 1-6 - [c126]Riddhiman Laha, Ruiai Sun, Wenxi Wu, Dasharadhan Mahalingam, Nilanjan Chakraborty, Luis F. C. Figueredo, Sami Haddadin:
Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees. ICRA 2022: 977-984 - [c125]Moritz Eckhoff, Robin Jeanne Kirschner, Elena Kern, Saeed Abdolshah, Sami Haddadin:
An MPC Framework For Planning Safe & Trustworthy Robot Motions. ICRA 2022: 4737-4742 - [c124]Mehmet Can Yildirim, Mohamadreza Sabaghian, Thore Goll, Clemens Kössler, Christoph Jähne, Abdalla Swikir, Andriy Sarabakha, Sami Haddadin:
Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result. ICRA 2022: 5769-5775 - [c123]Alexander Kurdas, Mazin Hamad, Jonathan Vorndamme, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Online Payload Identification for Tactile Robots Using the Momentum Observer. ICRA 2022: 5953-5959 - [c122]Thomas Steinecker, Alexander Kurdas, Nico Mansfeld, Mazin Hamad, Robin Jeanne Kirschner, Saeed Abdolshah, Sami Haddadin:
Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction. ICRA 2022: 11209-11215 - [c121]Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin:
A Solution to Slosh-free Robot Trajectory Optimization. IROS 2022: 223-230 - [c120]Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Rogerio Bonatti:
Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers. IROS 2022: 978-984 - [c119]Carlos Magno C. O. Valle, Alexander Kurdas, Edmundo Pozo Fortunic, Saeed Abdolshah, Sami Haddadin:
Real-time IMU-Based Learning: a Classification of Contact Materials. IROS 2022: 1965-1971 - [c118]Dennis Knobbe, Henning Zwirnmann, Moritz Eckhoff, Sami Haddadin:
Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling. IROS 2022: 2335-2342 - [c117]Seyed Ali Baradaran Birjandi, Niels Dehio, Abderrahmane Kheddar, Sami Haddadin:
Robust Cartesian Kinematics Estimation for Task-Space Control Systems. IROS 2022: 3512-3519 - [c116]Dennis Ossadnik, Mehmet Can Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah, Sami Haddadin:
BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots. IROS 2022: 3536-3543 - [c115]Alexander Moortgat-Pick, Peter So, Michael J. Sack, Emma G. Cunningham, Benjamin Paul Hughes, Anna Adamczyk, Andriy Sarabakha, Leila Takayama, Sami Haddadin:
A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation. IROS 2022: 3926-3933 - [c114]Anna Reithmeir, Luis F. C. Figueredo, Sami Haddadin:
Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP. IROS 2022: 5218-5225 - [c113]Jonathan Vorndamme, Luis F. C. Figueredo, Sami Haddadin:
Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space. IROS 2022: 6687-6694 - [c112]Xiao Chen, Lars Johannsmeier, Hamid Sadeghian, Erfan Shahriari, Martin Danneberg, Anselm Nicklas, Fan Wu, Gerhard P. Fettweis, Sami Haddadin:
On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G. IROS 2022: 7712-7719 - [c111]Kübra Karacan, Hamid Sadeghian, Robin Jeanne Kirschner, Sami Haddadin:
Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control. IROS 2022: 9604-9611 - [c110]Lars Johannsmeier, Sami Haddadin:
Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance. IROS 2022: 12081-12088 - [c109]Robin Jeanne Kirschner, Florian Martineau, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance. IROS 2022: 13414-13421 - [i19]Peter So, Jonas Wittmann, Patrick Ruhkamp, Andriy Sarabakha, Sami Haddadin:
Towards Remote Robotic Competitions: An Internet-Connected Task Board and Dashboard. CoRR abs/2201.09565 (2022) - [i18]Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
ISO/TS 15066: How Different Interpretations Affect Risk Assessment. CoRR abs/2203.02706 (2022) - [i17]Riddhiman Laha, Ruiai Sun, Wenxi Wu, Dasharadhan Mahalingam, Nilanjan Chakraborty, Luis F. C. Figueredo, Sami Haddadin:
Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees. CoRR abs/2203.10649 (2022) - [i16]Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Rogerio Bonatti:
Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers. CoRR abs/2203.13411 (2022) - [i15]Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Sai Vemprala, Rogerio Bonatti:
LaTTe: Language Trajectory TransformEr. CoRR abs/2208.02918 (2022) - [i14]Anna Reithmeir, Luis F. C. Figueredo, Sami Haddadin:
Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP. CoRR abs/2208.07588 (2022) - [i13]Johannes Ringwald, Samuel Schneider, Lingyun Chen, Dennis Knobbe, Lars Johannsmeier, Abdalla Swikir, Sami Haddadin:
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics. CoRR abs/2210.10015 (2022) - [i12]Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin:
A Solution to Slosh-free Robot Trajectory Optimization. CoRR abs/2210.12614 (2022) - [i11]Marvin Becker, Johannes Köhler, Sami Haddadin, Matthias A. Müller:
Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence. CoRR abs/2210.16106 (2022) - [i10]Marvin Becker, Philipp Caspers, Tom Hattendorf, Torsten Lilge, Sami Haddadin, Matthias Albrecht Müller:
Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators. CoRR abs/2212.05815 (2022) - [i9]Dennis Ossadnik, Mehmet Can Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah, Sami Haddadin:
BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots. CoRR abs/2212.14741 (2022) - 2021
- [j40]Jonas Fuchtmann, Roman Krumpholz, Maximilian Berlet, Daniel Ostler, Hubertus Feussner, Sami Haddadin, Dirk Wilhelm:
COVID-19 and beyond: development of a comprehensive telemedical diagnostic framework. Int. J. Comput. Assist. Radiol. Surg. 16(8): 1403-1412 (2021) - [j39]Thomas Dickmann, Nikolas J. Wilhelm, Claudio Glowalla, Sami Haddadin, Patrick van der Smagt, Rainer Burgkart:
An Adaptive Mechatronic Exoskeleton for Force-Controlled Finger Rehabilitation. Frontiers Robotics AI 8: 716451 (2021) - [j38]Marvin Becker, Torsten Lilge, Matthias A. Müller, Sami Haddadin:
Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning. IEEE Robotics Autom. Lett. 6(2): 2618-2625 (2021) - [j37]Nico Mansfeld, Manuel Keppler, Sami Haddadin:
Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach. IEEE Robotics Autom. Lett. 6(3): 4600-4607 (2021) - [j36]Alessandro Palleschi, Mazin Hamad, Saeed Abdolshah, Manolo Garabini, Sami Haddadin, Lucia Pallottino:
Fast and Safe Trajectory Planning: Solving the Cobot Performance/Safety Trade-Off in Human-Robot Shared Environments. IEEE Robotics Autom. Lett. 6(3): 5445-5452 (2021) - [j35]Mario Tröbinger, Christoph Jähne, Zheng Qu, Jean Elsner, Anton Reindl, Sebastian Getz, Thore Goll, Benjamin Loinger, Tamara Loibl, Christoph Kugler, Carles Calafell, Mohamadreza Sabaghian, Tobias Ende, Daniel Wahrmann, Sven Parusel, Simon Haddadin, Sami Haddadin:
Introducing GARMI - A Service Robotics Platform to Support the Elderly at Home: Design Philosophy, System Overview and First Results. IEEE Robotics Autom. Lett. 6(3): 5857-5864 (2021) - [j34]Veronika Spieker, Amartya Ganguly, Sami Haddadin, Cristina Piazza:
An Adaptive Multi-Modal Control Strategy to Attenuate the Limb Position Effect in Myoelectric Pattern Recognition. Sensors 21(21): 7404 (2021) - [c108]Alexander Toedtheide, Johannes Kühn, Edmundo Pozo Fortunic, Sami Haddadin:
An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control. HUMANOIDS 2021: 25-32 - [c107]Mihael Simonic, Rok Pahic, Timotej Gaspar, Saeed Abdolshah, Sami Haddadin, Manuel G. Catalano, Florentin Wörgötter, Ales Ude:
Modular ROS-based software architecture for reconfigurable, Industry 4.0 compatible robotic workcells. ICAR 2021: 44-51 - [c106]Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin:
ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk. ICRA 2021: 3040-3046 - [c105]Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin:
Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk. ICRA 2021: 3047-3053 - [c104]Robin Jeanne Kirschner, João Jantalia, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems. ICRA 2021: 3590-3596 - [c103]Riddhiman Laha, Luis F. C. Figueredo, Juraj Vrabel, Abdalla Swikir, Sami Haddadin:
Reactive Cooperative Manipulation based on Set Primitives and Circular Fields. ICRA 2021: 6577-6584 - [c102]Fernando Diaz Ledezma, Sami Haddadin:
RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema. ICRA 2021: 9354-9360 - [c101]Mario Tröbinger, Andrei Costinescu, Hao Xing, Jean Elsner, Tingli Hu, Abdeldjallil Naceri, Luis F. C. Figueredo, Elisabeth Rose Jensen, Darius Burschka, Sami Haddadin:
A Dual Doctor-Patient Twin Paradigm for Transparent Remote Examination, Diagnosis, and Rehabilitation. IROS 2021: 2933-2940 - [c100]Huy Xuan Pham, Ilker Bozcan, Andriy Sarabakha, Sami Haddadin, Erdal Kayacan:
GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing. IROS 2021: 4176-4183 - [c99]Lingyun Chen, Abdalla Swikir, Sami Haddadin:
Drawing Elon Musk: A Robot Avatar for Remote Manipulation. IROS 2021: 4244-4251 - [c98]Robin Jeanne Kirschner, Alexander Kurdas, Kübra Karacan, Philipp Junge, Seyed Ali Baradaran Birjandi, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking. IROS 2021: 4290-4297 - [c97]Jonathan Vorndamme, Sami Haddadin:
Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification. IROS 2021: 6307-6314 - [c96]Riddhiman Laha, Jonathan Vorndamme, Luis F. C. Figueredo, Zheng Qu, Abdalla Swikir, Christoph Jähne, Sami Haddadin:
Coordinated Motion Generation and Object Placement: A Reactive Planning and Landing Approach. IROS 2021: 9401-9407 - [c95]Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066. ISR 2021: 1-5 - [c94]Robin Jeanne Kirschner, Nico Mansfeld, Guillermo Gómez Peña, Saeed Abdolshah, Sami Haddadin:
Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066. ISR 2021: 6-9 - [c93]Robin Jeanne Kirschner, Lisa Burr, Melanie Porzenheim, Henning Mayer, Saeed Abdolshah, Sami Haddadin:
Involuntary Motion in Human-Robot Interaction: Effect of Interactive User Training on the Occurrence of Human Startle-Surprise Motion. ISR 2021: 28-32 - [c92]Anton Reindl, Nina Rudigkeit, Martin Ebers, Mario Tröbinger, Jean Elsner, Sami Haddadin:
Legal and Technical Considerations on Unified, Safe and Data-Protected Haptic Telepresence in Healthcare. ISR 2021: 239-243 - [c91]Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin:
Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups. ISR 2021: 310-315 - [c90]Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin:
A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities. ISR 2021: 316-320 - [i8]Carlos Magno C. O. Valle, Sami Haddadin:
SyReNets: Symbolic Residual Neural Networks. CoRR abs/2105.14396 (2021) - [i7]Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction. CoRR abs/2109.07201 (2021) - [i6]Maximilian Ulmer, Elie Aljalbout, Sascha Schwarz, Sami Haddadin:
Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space. CoRR abs/2110.09904 (2021) - 2020
- [j33]Teodor Tomic, Philipp Lutz, Korbinian Schmid, Andrew Mathers, Sami Haddadin:
Simultaneous contact and aerodynamic force estimation (s-CAFE) for aerial robots. Int. J. Robotics Res. 39(6) (2020) - [j32]Stuart McLennan, Amelia Fiske, Leo Anthony Celi, Ruth Müller, Jan Harder, Konstantin Ritt, Sami Haddadin, Alena Buyx:
An embedded ethics approach for AI development. Nat. Mach. Intell. 2(9): 488-490 (2020) - [j31]Erfan Shahriari, Lars Johannsmeier, Elisabeth Rose Jensen, Sami Haddadin:
Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks. IEEE Robotics Autom. Lett. 5(1): 211-218 (2020) - [j30]Seyed Ali Baradaran Birjandi, Johannes Kühn, Sami Haddadin:
Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing. IEEE Robotics Autom. Lett. 5(2): 954-961 (2020) - [j29]Seyed Ali Baradaran Birjandi, Sami Haddadin:
Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators. IEEE Robotics Autom. Lett. 5(4): 6544-6551 (2020) - [c89]Elie Aljalbout, Ji Chen, Konstantin Ritt, Maximilian Ulmer, Sami Haddadin:
Learning Vision-based Reactive Policies for Obstacle Avoidance. CoRL 2020: 2040-2054 - [c88]Florian Voigt, Lars Johannsmeier, Sami Haddadin:
Multi-Level Structure vs. End-to-End-Learning in High-Performance Tactile Robotic Manipulation. CoRL 2020: 2306-2316 - [c87]Alexander Moortgat-Pick, Anna Adamczyk, Teodor Tomic, Sami Haddadin:
Feeling the True Force in Haptic Telepresence for Flying Robots. IROS 2020: 9789-9796 - [i5]Nirnai Rao, Elie Aljalbout, Axel Sauer, Sami Haddadin:
How to Make Deep RL Work in Practice. CoRR abs/2010.13083 (2020) - [i4]Elie Aljalbout, Ji Chen, Konstantin Ritt, Maximilian Ulmer, Sami Haddadin:
Learning Vision-based Reactive Policies for Obstacle Avoidance. CoRR abs/2010.16298 (2020)
2010 – 2019
- 2019
- [j28]Sami Haddadin, Lars Johannsmeier, Fernando Diaz Ledezma:
Tactile Robots as a Central Embodiment of the Tactile Internet. Proc. IEEE 107(2): 471-487 (2019) - [c86]Axel Sauer, Elie Aljalbout, Sami Haddadin:
Tracking Holistic Object Representations. BMVC 2019: 293 - [c85]Dinmukhamed Zardykhan, Petr Svarný, Matej Hoffmann, Erfan Shahriari, Sami Haddadin:
Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-Robot Collaboration. Humanoids 2019: 266-273 - [c84]Lars Johannsmeier, Malkin Gerchow, Sami Haddadin:
A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control. ICRA 2019: 5844-5850 - [c83]Jasmin Grischke, Lars Johannsmeier, Lukas Eich, Sami Haddadin:
Dentronics: Review, First Concepts and Pilot Study of a New Application Domain for Collaborative Robots in Dental Assistance. ICRA 2019: 6525-6532 - [c82]Johannes Kuehn, Johannes Ringwald, Moritz Schappler, Lars Johannsmeier, Sami Haddadin:
Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype. ICRA 2019: 9180-9186 - [c81]Nico Mansfeld, Youssef Michel, Tobias Bruckmann, Sami Haddadin:
Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task. ICRA 2019: 9342-9348 - [c80]Mazin Hamad, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
The Role of Robot Payload in the Safety Map Framework. IROS 2019: 195-200 - [c79]Erfan Shahriari, Dinmukhamed Zardykhan, Alexander Koenig, Elisabeth Rose Jensen, Sami Haddadin:
Energy-based Adaptive Control and Learning for Patient-Aware Rehabilitation. IROS 2019: 5671-5678 - [c78]Seyed Ali Baradaran Birjandi, Johannes Kühn, Sami Haddadin:
Joint Velocity and Acceleration Estimation in Serial Chain Rigid Body and Flexible Joint Manipulators. IROS 2019: 7503-7509 - [i3]Axel Sauer, Elie Aljalbout, Sami Haddadin:
Tracking Holistic Object Representations. CoRR abs/1907.12920 (2019) - 2018
- [j27]Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin, Sami Haddadin:
Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties. IEEE Robotics Autom. Lett. 3(3): 1880-1887 (2018) - [j26]Alexander Toedtheide, Sami Haddadin:
CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists. IEEE Robotics Autom. Lett. 3(4): 3537-3544 (2018) - [j25]Sami Haddadin, Kai Krieger, Alin Albu-Schäffer, Torsten Lilge:
Exploiting Elastic Energy Storage for "Blind" Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling. IEEE Trans. Robotics 34(1): 91-112 (2018) - [j24]Yanan Li, Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet:
Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification. IEEE Trans. Robotics 34(5): 1170-1182 (2018) - [c77]Erfan Shahriari, Lars Johannsmeier, Sami Haddadin:
Valve-based Virtual Energy Tanks: A Framework to Simultaneously Passify Controls and Embed Control Objectives. ACC 2018: 3634-3641 - [c76]Tingli Hu, Johannes Kuehn, Sami Haddadin:
Identification of Human Shoulder-Arm Kinematic and Muscular Synergies During Daily-Life Manipulation Tasks. BioRob 2018: 1011-1018 - [c75]Sami Haddadin, Lars Johannsmeier, Marvin Becker, Moritz Schappler, Torsten Lilge, Simon Haddadin, Johannes Schmid, Tobias Ende, Sven Parusel:
Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. HRI (Companion) 2018: 375 - [c74]Fernando Diaz Ledezma, Sami Haddadin:
FOP Networks for Learning Humanoid Body Schema and Dynamics. Humanoids 2018: 1-9 - [c73]Reinhard Grassmann, Lars Johannsmeier, Sami Haddadin:
Smooth Point-to-Point Trajectory Planning in $SE$ (3)with Self-Collision and Joint Constraints Avoidance. IROS 2018: 1-9 - [c72]Sami Haddadin, Lars Johannsmeier:
The Art of Manipulation: Learning to Manipulate Blindly. IROS 2018: 1-9 - [c71]Aljaz Kramberger, Erfan Shahriari, Andrej Gams, Bojan Nemec, Ales Ude, Sami Haddadin:
Passivity Based Iterative Learning of Admittance-Coupled Dynamic Movement Primitives for Interaction with Changing Environments. IROS 2018: 6023-6028 - [c70]Sami Haddadin, Lars Johannsmeier, Johannes Schmid, Tobias Ende, Sven Parusel, Simon Haddadin, Moritz Schappler, Torsten Lilge, Marvin Becker:
roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. RiE 2018: 3-17 - [c69]Johannes Kuehn, Tingli Hu, Moritz Schappler, Sami Haddadin:
Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task. SIMPAR 2018: 158-165 - [i2]Lars Johannsmeier, Malkin Gerchow, Sami Haddadin:
A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control. CoRR abs/1805.08576 (2018) - [i1]Teodor Tomic, Philipp Lutz, Korbinian Schmid, Andrew Mathers, Sami Haddadin:
Simultaneous Contact and Aerodynamic Force Estimation (s-CAFE) for Aerial Robots. CoRR abs/1810.12908 (2018) - 2017
- [j23]Sami Haddadin:
Passivitätsbasierte Kraft- und Impedanzregelung für Roboter mit starren Gelenken mittels Energietanks. Autom. 65(2): 124-133 (2017) - [j22]Lars Johannsmeier, Sami Haddadin:
A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes. IEEE Robotics Autom. Lett. 2(1): 41-48 (2017) - [j21]Johannes Kuehn, Sami Haddadin:
An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts. IEEE Robotics Autom. Lett. 2(1): 72-79 (2017) - [j20]Sami Haddadin, Alessandro De Luca, Alin Albu-Schäffer:
Robot Collisions: A Survey on Detection, Isolation, and Identification. IEEE Trans. Robotics 33(6): 1292-1312 (2017) - [j19]Teodor Tomic, Christian Ott, Sami Haddadin:
External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots. IEEE Trans. Robotics 33(6): 1467-1482 (2017) - [c68]Erfan Shahriari, Aljaz Kramberger, Andrej Gams, Ales Ude, Sami Haddadin:
Adapting to contacts: Energy tanks and task energy for passivity-based dynamic movement primitives. Humanoids 2017: 136-142 - [c67]Fernando Diaz Ledezma, Sami Haddadin:
First-order-principles-based constructive network topologies: An application to robot inverse dynamics. Humanoids 2017: 438-445 - [c66]Alexander Toedtheide, Erfan Shahriari, Sami Haddadin:
Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint. ICRA 2017: 1255-1262 - [c65]Jonathan Vorndamme, Moritz Schappler, Sami Haddadin:
Collision detection, isolation and identification for humanoids. ICRA 2017: 4754-4761 - [c64]Nico Mansfeld, Fabian Beck, Alexander Dietrich, Sami Haddadin:
Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators. IROS 2017: 5368-5375 - [c63]Nico Mansfeld, Badis Djellab, Jaime Raldua Veuthey, Fabian Beck, Christian Ott, Sami Haddadin:
Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization. IROS 2017: 5390-5397 - [c62]Teodor Tomic, Sami Haddadin:
Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms. ISRR 2017: 183-198 - [c61]Sami Haddadin:
Wie programmiert man die neue Robotergeneration - und wie lernt man das im Studium? Software Engineering 2017: 19 - 2016
- [j18]Alexander Toedtheide, Torsten Lilge, Sami Haddadin:
Antagonistic Impedance Control for Pneumatically Actuated Robot Joints. IEEE Robotics Autom. Lett. 1(1): 161-168 (2016) - [j17]Borut Povse, Sami Haddadin, Rico Belder, Darko Koritnik, Tadej Bajd:
A tool for the evaluation of human lower arm injury: approach, experimental validation and application to safe robotics. Robotica 34(11): 2499-2515 (2016) - [c60]Nico Mansfeld, Christian Ott, Sami Haddadin:
Maximal input limits for independent SISO control in modal space under consideration of actuator constraints. ACC 2016: 6721-6728 - [c59]Teodor Tomic, Korbinian Schmid, Philipp Lutz, Andrew Mathers, Sami Haddadin:
The flying anemometer: Unified estimation of wind velocity from aerodynamic power and wrenches. IROS 2016: 1637-1644 - [c58]Jonathan Vorndamme, Moritz Schappler, Alexander Toedtheide, Sami Haddadin:
Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation. IROS 2016: 3360-3367 - [p1]Sami Haddadin, Elizabeth A. Croft:
Physical Human-Robot Interaction. Springer Handbook of Robotics, 2nd Ed. 2016: 1835-1874 - 2015
- [j16]Jörn Vogel, Sami Haddadin, Beata Jarosiewicz, John D. Simeral, Daniel Bacher, Leigh R. Hochberg, John P. Donoghue, Patrick van der Smagt:
An assistive decision-and-control architecture for force-sensitive hand-arm systems driven by human-machine interfaces. Int. J. Robotics Res. 34(6): 763-780 (2015) - [j15]Jung-Jun Park, Jae-Bok Song, Sami Haddadin:
Collision analysis and safety evaluation using a collision model for the frontal robot-human impact. Robotica 33(7): 1536-1550 (2015) - [c57]Moritz Schappler, Jonathan Vorndamme, Alexander Toedtheide, David C. Conner, Oskar von Stryk, Sami Haddadin:
Modeling, identification and joint impedance control of the atlas arms. Humanoids 2015: 1052-1059 - [c56]Christopher Schindlbeck, Sami Haddadin:
Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks. ICRA 2015: 440-447 - [c55]Nico Mansfeld, Sami Haddadin:
A comparison of braking strategies for elastic joint robots. ICRA 2015: 789-796 - [c54]Saskia Golz, Christian Osendorfer, Sami Haddadin:
Using tactile sensation for learning contact knowledge: Discriminate collision from physical interaction. ICRA 2015: 3788-3794 - [c53]Teodor Tomic, Sami Haddadin:
Simultaneous estimation of aerodynamic and contact forces in flying robots: Applications to metric wind estimation and collision detection. ICRA 2015: 5290-5296 - [c52]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:
Robotic agents capable of natural and safe physical interaction with human co-workers. IROS 2015: 6528-6535 - [c51]Sami Haddadin:
Physical Safety in Robotics. SyDe Summer School 2015: 249-271 - 2014
- [b1]Sami Haddadin:
Towards Safe Robots - Approaching Asimov's 1st Law. Springer Tracts in Advanced Robotics 90, Springer 2014, ISBN 978-3-642-40307-1, pp. 1-343 - [j14]Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer:
Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion. Autom. 62(3): 175-187 (2014) - [c50]Mehmet Can Ozparpucu, Sami Haddadin:
Optimal control of elastic joints with variable damping. ECC 2014: 2526-2533 - [c49]Teodor Tomic, Moritz Maier, Sami Haddadin:
Learning quadrotor maneuvers from optimal control and generalizing in real-time. ICRA 2014: 1747-1754 - [c48]Knut B. Kaldestad, Sami Haddadin, Rico Belder, Geir Hovland, David A. Anisi:
Collision avoidance with potential fields based on parallel processing of 3D-point cloud data on the GPU. ICRA 2014: 3250-3257 - [c47]Nico Mansfeld, Sami Haddadin:
Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection. IROS 2014: 3904-3911 - [c46]Teodor Tomic, Sami Haddadin:
A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots. IROS 2014: 4197-4204 - 2013
- [j13]Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Oliver Eiberger, Werner Friedl, Ganesh Ganesh, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Hannes Höppner, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf:
Variable impedance actuators: A review. Robotics Auton. Syst. 61(12): 1601-1614 (2013) - [j12]David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar:
Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints. IEEE Trans. Robotics 29(5): 1085-1101 (2013) - [c45]Karan Sharma, Sami Haddadin, Sebastian Minning, Johann Heindl, Tobias Bellmann, Sven Parusel, Tim Rokahr, Alin Albu-Schäffer:
Evaluation of human safety in the DLR Robotic Motion Simulator using a crash test dummy. ICRA 2013: 205-212 - [c44]Jonathan Bohren, Chavdar Papazov, Darius Burschka, Kai Krieger, Sven Parusel, Sami Haddadin, William L. Shepherdson, Gregory D. Hager, Louis L. Whitcomb:
A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks. ICRA 2013: 3631-3638 - [c43]Mehmet Can Ozparpucu, Sami Haddadin:
Optimal control for maximizing link velocity of visco-elastic joints. IROS 2013: 3035-3042 - [c42]Felix Huber, Konstantin Kondak, Kai Krieger, Dominik Sommer, Marc Schwarzbach, Maximilian Laiacker, Ingo Kossyk, Sven Parusel, Sami Haddadin, Alin Albu-Schäffer:
First analysis and experiments in aerial manipulation using fully actuated redundant robot arm. IROS 2013: 3452-3457 - [c41]Roman Weitschat, Sami Haddadin, Felix Huber, Alin Albu-Schäffer:
Dynamic optimality in real-time: A learning framework for near-optimal robot motions. IROS 2013: 5636-5643 - [c40]Sami Haddadin, Roman Weitschat, Felix Huber, Mehmet Can Özparpucu, Nico Mansfeld, Alin Albu-Schäffer:
Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time. ISRR 2013: 131-148 - [c39]Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schäffer:
It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning. SAFECOMP 2013: 202-215 - 2012
- [j11]Chavdar Papazov, Sami Haddadin, Sven Parusel, Kai Krieger, Darius Burschka:
Rigid 3D geometry matching for grasping of known objects in cluttered scenes. Int. J. Robotics Res. 31(4): 538-553 (2012) - [j10]Sami Haddadin, Paolo Robuffo Giordano, Angelika Peer:
Editorial. Int. J. Robotics Res. 31(13): 1529-1530 (2012) - [j9]Markus Grebenstein, Maxime Chalon, Werner Friedl, Sami Haddadin, Thomas Wimböck, Gerd Hirzinger, Roland Siegwart:
The hand of the DLR Hand Arm System: Designed for interaction. Int. J. Robotics Res. 31(13): 1531-1555 (2012) - [j8]Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer:
On making robots understand safety: Embedding injury knowledge into control. Int. J. Robotics Res. 31(13): 1578-1602 (2012) - [c38]Sami Haddadin, Mehmet Can Ozparpucu, Alin Albu-Schäffer:
Optimal control for maximizing potential energy in a variable stiffness joint. CDC 2012: 1199-1206 - [c37]Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet:
A versatile biomimetic controller for contact tooling and haptic exploration. ICRA 2012: 3329-3334 - [c36]Sami Haddadin, Felix Huber, Alin Albu-Schäffer:
Optimal control for exploiting the natural dynamics of Variable Stiffness robots. ICRA 2012: 3347-3354 - [c35]David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar:
Optimal torque and stiffness control in compliantly actuated robots. IROS 2012: 2801-2808 - [c34]Sami Haddadin, Felix Huber, Kai Krieger, Roman Weitschat, Alin Albu-Schäffer, Sebastian Wolf, Werner Friedl, Markus Grebenstein, Florian Petit, Jens Reinecke, Roberto Lampariello:
Intrinsically elastic robots: The key to human like performance. IROS 2012: 4270-4271 - [c33]Sami Haddadin, Kai Krieger, Nico Mansfeld, Alin Albu-Schäffer:
On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level. IROS 2012: 5089-5096 - [c32]Sami Haddadin, Nico Mansfeld, Alin Albu-Schäffer:
Rigid vs. elastic actuation: Requirements & performance. IROS 2012: 5097-5104 - [c31]Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer:
A truly safely moving robot has to know what injury it may cause. IROS 2012: 5406-5413 - [c30]Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Ganesh Gowrishankar, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf:
Variable impedance actuators: Moving the robots of tomorrow. IROS 2012: 5454-5455 - 2011
- [j7]Chenguang Yang, Ganesh Gowrishankar, Sami Haddadin, Sven Parusel, Alin Albu-Schäffer, Etienne Burdet:
Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions. IEEE Trans. Robotics 27(5): 918-930 (2011) - [c29]Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schäffer, Gerd Hirzinger:
Safe acting and manipulation in human environments: A key concept for robots in our society. ARSO 2011: 72-75 - [c28]Sami Haddadin, Kai Krieger, Alin Albu-Schäffer:
Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling. CDC/ECC 2011: 690-697 - [c27]Markus Grebenstein, Alin Albu-Schäffer, Thomas Bahls, Maxime Chalon, Oliver Eiberger, Werner Friedl, Robin Gruber, Sami Haddadin, Ulrich Hagn, Robert Haslinger, Hannes Höppner, Stefan Jörg, Mathias Nickl, Alexander Nothhelfer, Florian Petit, Josef Reill, Nikolaus Seitz, Thomas Wimböck, Sebastian Wolf, Tilo Wüsthoff, Gerd Hirzinger:
The DLR hand arm system. ICRA 2011: 3175-3182 - [c26]Sven Parusel, Sami Haddadin, Alin Albu-Schäffer:
Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot. ICRA 2011: 4298-4305 - [c25]Jung-Jun Park, Sami Haddadin, Jae-Bok Song, Alin Albu-Schäffer:
Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions. ICRA 2011: 5413-5420 - [c24]Sami Haddadin, Kai Krieger, Mirko Kunze, Alin Albu-Schäffer:
Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot. IROS 2011: 1789-1796 - [c23]Tobias Ende, Sami Haddadin, Sven Parusel, Tilo Wüsthoff, Marc Hassenzahl, Alin Albu-Schäffer:
A human-centered approach to robot gesture based communication within collaborative working processes. IROS 2011: 3367-3374 - 2010
- [j6]Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger:
Konzepte für den Roboterassistenten der Zukunft (Towards the Robotic Co-Worker). Autom. 58(12): 695-709 (2010) - [j5]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
Safety Analysis for a Human-Friendly Manipulator. Int. J. Soc. Robotics 2(3): 235-252 (2010) - [c22]Oliver Eiberger, Sami Haddadin, Michael Weis, Alin Albu-Schäffer, Gerd Hirzinger:
On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint. ICRA 2010: 1687-1694 - [c21]Alin Albu-Schäffer, Sebastian Wolf, Oliver Eiberger, Sami Haddadin, Florian Petit, Maxime Chalon:
Dynamic modelling and control of variable stiffness actuators. ICRA 2010: 2155-2162 - [c20]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
Soft-tissue injury in robotics. ICRA 2010: 3426-3433 - [c19]Sami Haddadin, Alin Albu-Schäffer, Oliver Eiberger, Gerd Hirzinger:
New insights concerning intrinsic joint elasticity for safety. IROS 2010: 2181-2187 - [c18]Sami Haddadin, Holger Urbanek, Sven Parusel, Darius Burschka, Jürgen Roßmann, Alin Albu-Schäffer, Gerd Hirzinger:
Real-time reactive motion generation based on variable attractor dynamics and shaped velocities. IROS 2010: 3109-3116 - [c17]Sami Haddadin, Sven Parusel, Rico Belder, Joern Vogel, Tim Rokahr, Alin Albu-Schäffer, Gerd Hirzinger:
Holistic design and analysis for the human-friendly robotic co-worker. IROS 2010: 4735-4742 - [c16]Stefan Fuchs, Sami Haddadin, Maik Keller, Sven Parusel, Andreas Kolb, Michael Suppa:
Cooperative bin-picking with Time-of-Flight camera and impedance controlled DLR lightweight robot III. IROS 2010: 4862-4867 - [c15]Robert Burger, Sami Haddadin, Georg Plank, Sven Parusel, Gerd Hirzinger:
The driver concept for the DLR lightweight robot III. IROS 2010: 5453-5459 - [c14]Joern Vogel, Sami Haddadin, John D. Simeral, Sergey D. Stavisky, Daniel Bacher, Leigh R. Hochberg, John P. Donoghue, Patrick van der Smagt:
Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System. ISER 2010: 125-136 - [c13]Rainer Bischoff, Johannes Kurth, Günter Schreiber, Ralf Koeppe, Alin Albu-Schäffer, Alexander Beyer, Oliver Eiberger, Sami Haddadin, Andreas Stemmer, Gerhard Grunwald, Gerd Hirzinger:
The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing. ISR/ROBOTIK 2010: 1-8
2000 – 2009
- 2009
- [j4]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
Requirements for Safe Robots: Measurements, Analysis and New Insights. Int. J. Robotics Res. 28(11-12): 1507-1527 (2009) - [j3]Sami Haddadin, Tim Laue, Udo Frese, Sebastian Wolf, Alin Albu-Schäffer, Gerd Hirzinger:
Kick it with elasticity: Safety and performance in human-robot soccer. Robotics Auton. Syst. 57(8): 761-775 (2009) - [c12]Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Jürgen Rossmann, Gerd Hirzinger:
The "DLR Crash Report": Towards a standard crash-testing protocol for robot safety - Part I: Results. ICRA 2009: 272-279 - [c11]Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Jürgen Rossmann, Gerd Hirzinger:
The "DLR crash report": Towards a standard crash-testing protocol for robot safety - Part II: Discussions. ICRA 2009: 280-287 - [c10]Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Sebastian Wolf, Christoph Borst, Gerd Hirzinger:
Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance. ISRR 2009: 185-207 - [c9]Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger:
Towards the Robotic Co-Worker. ISRR 2009: 261-282 - 2008
- [j2]Alin Albu-Schäffer, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimböck, Sebastian Wolf, Gerd Hirzinger:
Soft robotics. IEEE Robotics Autom. Mag. 15(3): 20-30 (2008) - [c8]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts. ICRA 2008: 1331-1338 - [c7]Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Gerd Hirzinger:
The role of the robot mass and velocity in physical human-robot interaction - Part II: Constrained blunt impacts. ICRA 2008: 1339-1345 - [c6]Sami Haddadin, Alin Albu-Schäffer, Michael Strohmayr, Mirko Frommberger, Gerd Hirzinger:
Injury evaluation of human-robot impacts. ICRA 2008: 2203-2204 - [c5]Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca, Gerd Hirzinger:
Collision detection and reaction: A contribution to safe physical Human-Robot Interaction. IROS 2008: 3356-3363 - 2007
- [j1]Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Gerhard Hirzinger:
The DLR lightweight robot: design and control concepts for robots in human environments. Ind. Robot 34(5): 376-385 (2007) - [c4]Christoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, Ulrich Hillenbrand, Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
A humanoid upper body system for two-handed manipulation. ICRA 2007: 2766-2767 - [c3]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights. ISRR 2007: 395-407 - [c2]Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger:
Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing. Robotics: Science and Systems 2007 - 2006
- [c1]Alessandro De Luca, Alin Albu-Schäffer, Sami Haddadin, Gerd Hirzinger:
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm. IROS 2006: 1623-1630
Coauthor Index
[c136] [i24] [j25] [j24] [j20] [c52] [j14] [j13] [j12] [c45] [c42] [c41] [c40] [c39] [j8] [c38] [c37] [c36] [c35] [c34] [c33] [c32] [c31] [c30] [j7] [c29] [c28] [c27] [c26] [c25] [c24] [c23] [j6] [j5] [c22] [c21] [c20] [c19] [c18] [c17] [c13] [j4] [j3] [c12] [c11] [c10] [c9] [j2] [c8] [c7] [c6] [c5] [j1] [c4] [c3] [c2] [c1]
Gerd Hirzinger
aka: Gerhard Hirzinger
aka: Gerhard Hirzinger
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