Wissenschaftlicher Mitarbeiter


Foto von Nico Mansfeld

Nico Mansfeld, M.Sc.

Technische Universität München

Munich School of Robotics and Machine Intelligence (MSRM)

Postadresse

Postal:
Heßstr. 134
80797 München

Dienstort

Munich School of Robotics and Machine Intelligence (MSRM)

Work:
Heßstr. 134(2410)
80797 München

Research Interests

  • Physical human-robot interaction
  • Planning and control for safety
  • Human injury biomechanics
  • Flexible joint and variable compliance robots
  • Redundancy resolution

Publications

2019

  • Garofalo, Gianluca; Mansfeld, Nico; Jankowski, Julius; Ott, Christian: Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration. accepted: IEEE Int. Conf. on Robotics and Automation (ICRA), 2019 mehr… BibTeX
  • Hamad, Mazin; Mansfeld, Nico; Abdolshah, Saeed; Haddadin, Sami: The Role of Robot Payload in the Safety Map Framework. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), 2019 mehr… BibTeX
  • Mansfeld, Nico; Michel, Youssef; Bruckmann, Tobias; Haddadin, Sami: Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task. accepted: IEEE Int. Conf. on Robotics and Automation (ICRA), 2019 mehr… BibTeX

2018

  • Mansfeld, Nico; Hamad, Mazin; Becker, Marvin; Gonzales Marin, Antonio; Haddadin, Sami: Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties. Accepted at: IEEE Robotics and Automation Letters, 2018 mehr… BibTeX Volltext ( DOI )

2017

  • Mansfeld, Nico; Beck, Fabian; Dietrich, Alexander; Haddadin, Sami: Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant Manipulators. {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS}), 2017 mehr… BibTeX
  • Mansfeld, Nico; Djellab, Badis; Raldúa Veuthey, Jaime; Beck, Fabian; Ott, Christian; Haddadin, Sami: Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 mehr… BibTeX

2016

  • Haddadin, Sami; Weitschat, Roman; Huber, Felix; Özparpucu, Mehmet Can; Mansfeld, Nico; Albu-Schäffer, Alin: Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time. In: Inaba, Masayuki; Corke, Peter (Hrsg.): Robotics Research: The 16th International Symposium ISRR. Springer International Publishing, 2016, 131--148 mehr… BibTeX Volltext ( DOI )
  • Mansfeld, N.; Ott, C.; Haddadin, S.: Maximal input limits for independent SISO control in modal space under consideration of actuator constraints. 2016 American Control Conference (ACC), 2016 mehr… BibTeX Volltext ( DOI )

2015

  • Beetz, M.; Bartels, G.; Albu-Schäffer, A.; Bálint-Benczédi, F.; Belder, R.; Beßler, D.; Haddadin, S.; Maldonado, A.; Mansfeld, N.; Wiedemeyer, T.; Weitschat, R.; Worch, J. H.: Robotic agents capable of natural and safe physical interaction with human co-workers. Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 2015 mehr… BibTeX Volltext ( DOI )
  • Mansfeld, Nico; Haddadin, Sami: A comparison of braking strategies for elastic joint robots. Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015 mehr… BibTeX Volltext ( DOI )

2014

  • Mansfeld, N.; Haddadin, S.: Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection. Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014 mehr… BibTeX Volltext ( DOI )
  • Mansfeld, Nico; Özparpucu, Can Mehmet; Haddadin, Sami: Braking elastic joint robots in near-minimum time. 7th International Workshop on Human-Friendly Robotics, 2014 mehr… BibTeX

2013

  • Haddadin, Sami; Mansfeld, Nico: Human Injury Analysis in Robotics: An Overview. International Conference on Intelligent Robots and Systems (IROS), Workshop, 2013 mehr… BibTeX

2012

  • Haddadin, Sami; Krieger, Kai; Mansfeld, Nico; Albu-Schäffer, Alin: On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level. Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Mansfeld, Nico; Albu-Schäffer, Alin: Rigid vs. elastic actuation: Requirements & performance. Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012 mehr… BibTeX Volltext ( DOI )