Alle Publikationen

2021

  • Becker, Marvin; Lilge, Torsten; Müller, Matthias A.; Haddadin, Sami: Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning. IEEE Robotics and Automation Letters 6 (2), 2021, 2618-2625 mehr… BibTeX Volltext ( DOI )
  • Chen, Lingyun; Swikir, Abdalla; Haddadin, Sami: Drawing Elon Musk: A Robot Avatar for Remote Manipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 mehr… BibTeX
  • Egger, Marion; Steinböck, Martina; Shahriari, Erfan; Mueller, Friedemann: Robotergestützte Mobilisierungstherapie mit künstlicher Intelligenz. Von der Intensivstation bis zur fortgeschrittenen Frührehabilitation. neuroreha 13, 2021, 27-31 mehr… BibTeX Volltext ( DOI )
  • Figueredo, L. F. C.; Aguiar, R. C.; Chen, L.; Chakrabarty, S.; Dogar, M. R.; Cohn, A. G.: Human Comfortability: Integrating Ergonomics and Muscular-Informed Metrics for Manipulability Analysis During Human-Robot Collaboration. IEEE Robotics and Automation Letters 6 (2), 2021, 351-358 mehr… BibTeX Volltext ( DOI )
  • Hamad, Mazin; Kurdas, Alexander; Abdolshah, Saeed; Haddadin, Sami: Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups. 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021 mehr… BibTeX Volltext ( DOI )
  • Hamad, Mazin; Kurdas, Alexander; Abdolshah, Saeed; Haddadin, Sami: A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities. 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021 mehr… BibTeX Volltext ( DOI )
  • Kirschner, Robin Jeanne; Burr, Lisa; Porzenheim, Melanie; Mayer, Henning; Abdolshah, Saeed; Haddadin, Sami: Involuntary Motion in Human-Robot Interaction: Effect of Interactive User Training on the Occurrence of Human Startle-Surprise Motion. 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021 mehr… BibTeX Volltext ( DOI )
  • Kirschner, Robin Jeanne; Mansfeld, Nico; Peña, Guillermo Gómez; Abdolshah, Saeed; Haddadin, Sami: Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066. 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021 mehr… BibTeX Volltext ( DOI )
  • Kuehn, Johannes; Bagnato, Carlo; Burdet, Etienne; Haddadin, Sami: Arm movement adaptation to concurrent pain constraints. Scientific Reports 11, 2021 mehr… BibTeX Volltext ( DOI )
  • Laha, Riddhiman; Figueredo, Luis; Vrabel, Juraj; Swikir, Abdalla; Haddadin, Sami: Reactive Cooperative Manipulation based on Set Primitives and Circular Fields. IEEE International Conference on Robotics and Automation (ICRA 2021), 2021 mehr… BibTeX
  • Laha, Riddhiman; Vorndamme, Jonathan; Figueredo, Luis; qu, Zheng; Swikir, Abdalla; Jähne, Christoph; Haddadin, Sami: Coordinated motion generation and object placement: A reactive planning and landing approach. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 mehr… BibTeX
  • Mansfeld, Nico; Keppler, Manuel; Haddadin, Sami: Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach. IEEE Robotics and Automation Letters 6 (3), 2021, 4600-4607 mehr… BibTeX Volltext ( DOI )
  • Naceri, Abdeldjallil; Gultekin, Yasemin B.; Moscatelli, Alessandro; Ernst, Marc O.: Role of Tactile Noise in the Control of Digit Normal Force. Frontiers in Psychology 12, 2021, 77 mehr… BibTeX Volltext ( DOI )
  • Naceri, Abdeldjallil; Schumacher, Tobias; Li, Qiang; Calinon, Sylvain; Ritter, Helge: Learning Optimal Impedance Control During Complex 3D Arm Movements. IEEE Robotics and Automation Letters 6 (2), 2021, 1248-1255 mehr… BibTeX Volltext ( DOI )
  • Naceri, Djallil; Mazzanti, Dario; Bimbo, Joao; Tefera, Yonas; Prattichizzo, Domenico; Caldwell, Darwin; Mattos, Leonardo; Deshpande, Nikhil: The Vicarios Virtual Reality Interface for Remote Robotic Teleoperation: Teleporting for Intuitive Tele-manipulation. Journal of Intelligent & Robotic Systems 101, 2021 mehr… BibTeX Volltext ( DOI )
  • Ossadnik, Dennis; Jensen, Elisabeth; Haddadin, Sami: Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021to appear mehr… BibTeX
  • Ossadnik, Dennis; Jensen, Elisabeth; Haddadin, Sami: ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021to appear mehr… BibTeX
  • R. J. Kirschner, A. Kurdas, K. Karacan, P. Junge, A. Baradaran Birjandi, N. Mansfeld, S. Abdolshah, S. Haddadin: Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), 2021 mehr… BibTeX
  • R. J. Kirschner, J. Pedro Jantalia, N. Mansfeld, S. Abdolshah, S. Haddadin: CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems. 2021 International Conference on Robotics and Automation (ICRA 2021), 2021 mehr… BibTeX
  • Reindl, Anton; Rudigkeit, Nina; Ebers, Martin; Tröbinger, Mario; Elsner, Jean; Haddadin, Sami: Legal and Technical Considerations on Unified, Safe and Data-Protected Haptic Telepresence in Healthcare. 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021 mehr… BibTeX Volltext ( DOI )
  • Swikir, A.; Girard, A.; Zamani, M.: Symbolic Models for a Class of Impulsive Systems. IEEE Control Systems Letters 5 (1), 2021, 247-252 mehr… BibTeX Volltext ( DOI )
  • Toedtheide, A.; Kuehn, J.; Pozo Fortunić, E.; Haddadin, S.: An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control. Humanoids 2020, 2021 mehr… BibTeX
  • Tröbinger, Mario; Jähne, Christoph; Qu, Zheng; Elsner, Jean; Reindl, Anton; Getz, Sebastian; Goll, Thore; Loinger, Benjamin; Loibl, Tamara; Kugler, Christoph; Calafell, Carles; Sabaghian, Mohamadreza; Ende, Tobias; Wahrmann, Daniel; Parusel, Sven; Haddadin, Simon; Haddadin, S.: Introducing GARMI - A Service Robotics Platform to Support the Elderly at Home: Design Philosophy, System Overview and First Results. IEEE Robotics and Automation Letters 6, 2021, 5857-5864 mehr… BibTeX Volltext ( DOI )
  • Vorndamme, J.; Haddadin, S.: Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 mehr… BibTeX
  • Yildirim, Mehmet; Sendur, Polat; Kansizoglu, Ahmet; Uras, Umut; Bilgin, Onur; Emre, Sinan; Yapici, Guney; Arik, Mehmet; Ugurlu, Barkan: Design and development of a durable series elastic actuator with an optimized spring topology. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2021, 095440622110203 mehr… BibTeX Volltext ( DOI )

2020

  • Aljalbout, Elie; Chen, Ji; Ritt, Konstantin; Ulmer, Maximilian; Haddadin, Sami: Learning Vision-based Reactive Policies for Obstacle Avoidance. Conference on Robot Learning, 2020 mehr… BibTeX
  • Birjandi, S. A. B.; Haddadin, S.: Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators. IEEE Robotics and Automation Letters 5 (4), 2020, 6544-6551 mehr… BibTeX Volltext ( DOI )
  • Birjandi, Seyed Ali Baradaran; Kühn, Johannes; Haddadin, Sami: Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing. IEEE Robotics and Automation Letters 5 (2), 2020, 954--961 mehr… BibTeX Volltext ( DOI )
  • Chen, Lipeng; Figueredo, Luis; Dogar, Mehmet: Manipulation Planning under Changing External Forces. Autonomous Robots 44, 2020 mehr… BibTeX Volltext ( DOI )
  • Coruk, S.; Yildirim, M. C.; Kansizoglu, A. T.; Dalgic, O.; Ugurlu, B.: Design and Development of a Powered Upper Limb Exoskeleton with High Payload Capacity for Industrial Operations. 2020 IEEE International Conference on Human-Machine Systems (ICHMS), 2020 mehr… BibTeX Volltext ( DOI )
  • Coruk, Sinan; Soliman, Ahmed Fahmy; Dalgic, Oguzhan; Yildirim, Mehmet C; Ugur, Deniz; Ugurlu, Barkan: Towards Crutch-Free 3-D Walking Support with the Lower Body Exoskeleton Co-Ex: Self-balancing Squatting Experiments. International Symposium on Wearable Robotics, 2020 mehr… BibTeX
  • Dunwoodie, E.; Mutlu, R.; Ugurlu, B.; Yildirim, M.; Uzunovic, T.; Sariyildiz, E.: A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction. 2020 IEEE 16th International Workshop on Advanced Motion Control (AMC), 2020 mehr… BibTeX Volltext ( DOI )
  • Grischke, J., Thiel, S. und Haddadin, S: Digitale Assistenzsysteme – Roboterassistenten als Alltagshelfer im Gesundheitssektor. Bildung und Beruf, 2020 mehr… BibTeX
  • Grischke, Jasmin; Johannsmeier, Lars; Eich, Lukas; Griga, Leif; Haddadin, Sami: Dentronics: Towards robotics and artificial intelligence in dentistry. Dental Materials 36 (6), 2020, 765 - 778 mehr… BibTeX Volltext ( DOI )
  • Haddadin, S., Knobbe, D., Reindl, A. und Thiel, S.: Geriatronik – Assistenzroboter für ein selbstbestimmtes Leben im Alter? In: Mokry, S. und Rückert, M. (Hrsg.): Roboter als (Er-)Lösung? Orientierung der Pflege von morgen am christlichen Menschenbild. Hans-Seidel-Stiftung, 2020 mehr… BibTeX
  • Haddadin, S., Lilienthal, A.: Die Physik der Roboter. Physik Journal 19 (4), 2020, 3 mehr… BibTeX
  • Haddadin, Sami; Knobbe, Dennis: Robotics and Artificial Intelligence: The Present and Future Visions. In: Ebers, Martin; Navas, SusanaEditors (Hrsg.): Algorithms and Law. Cambridge University Press, 2020, 1–36 mehr… BibTeX Volltext ( DOI )
  • Hu, T.; Kühn, J.; Haddadin, S.: Forward and Inverse Dynamics Modeling of Human Shoulder-Arm Musculoskeletal System with Scapulothoracic Constraint. Comput. Methods Biomech. Biomed. Engin., 2020 mehr… BibTeX Volltext ( DOI )
  • Jagtap, Pushpak; Swikir, Abdalla; Zamani, Majid: Compositional Construction of Control Barrier Functions for Interconnected Control Systems. Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control (HSCC '20), Association for Computing Machinery, 2020 mehr… BibTeX Volltext ( DOI )
  • Karacan, K.; Meyer, J. T.; Bozma, H. I.; Gassert, R.; Samur, E.: An Environment Recognition and Parameterization System for Shared-Control of a Powered Lower-Limb Exoskeleton. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020 mehr… BibTeX Volltext ( DOI )
  • Kawan, C.; Mironchenko, A.; Swikir, A.; Noroozi, N.; Zamani, M.: A Lyapunov-based small-gain theorem for infinite networks. IEEE Transactions on Automatic Control, 2020, 1-1 mehr… BibTeX Volltext ( DOI )
  • Kawan, C.; Mironchenko, Andrii; Swikir, Abdalla; Noroozi, N.; Zamani, Majid: A spectral small-gain condition for input-to-state stability of infinite networks. The 21st IFAC World Congress, 2020 mehr… BibTeX
  • Kim, Eugene; Kirschner, Robin; Yamada, Yoji; Okamoto, Shogo: Estimating probability of human hand intrusion for speed and separation monitoring using interference theory. Robotics and Computer-Integrated Manufacturing 61, 2020, 101819 mehr… BibTeX Volltext ( DOI )
  • Liu, S.; Swikir, A.; Zamani, M.: Compositional Verification of Initial-State Opacity for Switched Systems. 2020 59th IEEE Conference on Decision and Control (CDC), 2020 mehr… BibTeX Volltext ( DOI )
  • McLennan, Stuart; Fiske, Amelia; Celi, Leo; Müller, Ruth; Harder, Jan; Ritt, Konstantin; Haddadin, Sami; Buyx, Alena: An embedded ethics approach for AI development. Nature Machine Intelligence 2, 2020, 1-3 mehr… BibTeX Volltext ( DOI )
  • Moortgat-Pick, Alexander; Adamczyk, Anna; Tomic, Teodor; Haddadin, Sami: Feeling the True Force in Haptic Telepresence for Flying Robots. 2020 IEEE/RSJ International Conference on Intelligent Robots; Systems (IROS), 2020 mehr… BibTeX
  • Morales, T.; Sarabakha, A.; Kayacan, E.: Image Generation for Efficient Neural Network Training in Autonomous Drone Racing. 2020 International Joint Conference on Neural Networks (IJCNN), 2020 mehr… BibTeX Volltext ( DOI )
  • Oliveira, Rodrigo; Bauchspiess, Ricardo; Porto, Letícia; Brito, Camila; Figueredo, Luis; Borges, Geovany; Ramos, Guilherme: A Robot Architecture for Outdoor Competitions. Journal of Intelligent & Robotic Systems 99, 2020 mehr… BibTeX Volltext ( DOI )
  • Patel, Siddharth; Sarabakha, Andriy; Kircali, Dogan; Kayacan, Erdal: An Intelligent Hybrid Artificial Neural Network-Based Approach for Control of Aerial Robots. Journal of Intelligent & Robotic Systems 97 (2), 2020, 387-398 mehr… BibTeX Volltext ( DOI )
  • Rao, Nirnai; Aljalbout, Elie; Sauer, Axel; Haddadin, Sami: How to Make Deep RL Work in Practice. NeurIPS 2020, 2020 mehr… BibTeX
  • Sarabakha, A.; Kayacan, E.: Online Deep Fuzzy Learning for Control of Nonlinear Systems Using Expert Knowledge. IEEE Transactions on Fuzzy Systems 28 (7), 2020, 1492-1503 mehr… BibTeX Volltext ( DOI )
  • Schwarz, Sascha; Hartmann, Bastian; Sauer, J.; Burgkart, R.; Sudhop, Stefanie; Rixen, D.; Clausen-Schaumann, H.: Contactless Vibrational Analysis of Transparent Hydrogel Structures Using Laser-Doppler Vibrometry. Experimental Mechanics 60, 2020 mehr… BibTeX Volltext ( DOI )
  • Schwarz, Sascha; Kiderlen, Stefanie; Moerl, Robert; Sudhop, Stefanie; Clausen-Schaumann, Hauke; Rixen, Daniel J.: Investigating the Feasibility of Laser-Doppler Vibrometry for Vibrational Analysis of Living Mammalian Cells. Rotating Machinery, Optical Methods & Scanning LDV Methods, Volume 6, Springer International Publishing, 2020 mehr… BibTeX
  • Shahamat, M.; Askari, J.; Swikir, A.; Noroozi, N.; Zamani, M.: Construction of continuous abstractions for discrete-time time-delay systems. 2020 59th IEEE Conference on Decision and Control (CDC), 2020 mehr… BibTeX Volltext ( DOI )
  • Shahriari, E.; Johannsmeier, L.; Jensen, E.; Haddadin, S.: Power Flow Regulation, Adaptation and Learning for Intrinsically Robust Virtual Energy Tanks. IEEE Robotics and Automation Letters 5 (1), 2020, 211-218 mehr… BibTeX Volltext ( DOI )
  • Sharifi, M.; Swikir, A.; Noroozi, N.; Zamani, M.: Compositional Construction of Abstractions for Infinite Networks of Switched Systems. 2020 59th IEEE Conference on Decision and Control (CDC), 2020 mehr… BibTeX Volltext ( DOI )
  • Thiel, S.: Der Sanfte Roboter-Assistent. Gesundheit. Kundenmagazin BMW BKK, 2020 mehr… BibTeX
  • Toba, Monica N.; Zavaglia, Melissa; Malherbe, Caroline; Moreau, Tristan; Rastelli, Federica; Kaglik, Anna; Valabrègue, Romain; Pradat-Diehl, Pascale; Hilgetag, Claus C.; Valero-Cabré, Antoni: Game theoretical mapping of white matter contributions to visuospatial attention in stroke patients with hemineglect. Human Brain Mapping 41 (11), 2020, 2926-2950 mehr… BibTeX Volltext ( DOI )
  • Toba, Monica N; Godefroy, Olivier; Rushmore, R Jarrett; Zavaglia, Melissa; Maatoug, Redwan; Hilgetag, Claus C; Valero-Cabré, Antoni: Revisiting ‘brain modes’ in a new computational era: approaches for the characterization of brain-behavioural associations. Brain 143 (4), 2020, 1088-1098 mehr… BibTeX Volltext ( DOI )
  • Toba, Monica N; Malherbe, Caroline; Godefroy, Olivier; Rushmore, R Jarrett; Zavaglia, Melissa; Maatoug, Redwan; Mandonnet, Emmanuel; Valero-Cabré, Antoni; Hilgetag, Claus C: Reply: Inhibition between human brain areas or methodological artefact? Brain 143 (5), 2020, e39-e39 mehr… BibTeX Volltext ( DOI )
  • Tomic, Teodor; Lutz, P.; Schmid, K.; Mathers, Andrew; Haddadin, S.: Simultaneous contact and aerodynamic force estimation (s-CAFE) for aerial robots. The International Journal of Robotics Research 39, 2020, 688 - 728 mehr… BibTeX Volltext ( DOI )
  • Tomić, Teodor; Haddadin, Sami: Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms. Robotics Research, Springer International Publishing, 2020 mehr… BibTeX
  • Trunzer, Tatjana; Stummvoll, Timothy; Porzenheim, Melanie; Fraga-García, Paula; Berensmeier, Sonja: A Carbon Nanotube Packed Bed Electrode for Small Molecule Electrosorption: An Electrochemical and Chromatographic Approach for Process Description. Applied Sciences 10 (3), 2020, 1133 mehr… BibTeX Volltext ( DOI )
  • Wu, F.; Howard, M.: Energy Regenerative Damping in Variable Impedance Actuators for Long-Term Robotic Deployment. IEEE Transactions on Robotics 36 (6), 2020, 1778-1790 mehr… BibTeX Volltext ( DOI )

2019

  • Birjandi, Seyed Ali Baradaran; Kühn, Johannes; Haddadin, Sami: Joint velocity and acceleration estimation in serial chain rigid body and flexible joint manipulators. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 mehr… BibTeX
  • 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
  • Grischke, Jasmin; Johannsmeier, Lars; Eich, Lukas; Haddadin, Sami: Dentronics: Review, First Concepts and Pilot Study of a New Application Domain for Collaborative Robots in Dental Assistance. 2019 International Conference on Robotics and Automation (ICRA), 2019 mehr… BibTeX
  • Haddadin, Sami; Johannsmeier, Lars; Ledezma, Fernando Díaz: Tactile Robots as a Central Embodiment of the Tactile Internet. Proceedings of the IEEE 107 (2), 2019, 471--487 mehr… BibTeX Volltext ( DOI )
  • 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
  • Jahn, Eva; Krause, Julia; Müller, Martin: Intuitive Interaktion mit kooperativen Assistenzrobotern für das 3. und 4. Lebensalter (KoBo34): Evaluation von Bedürfnissen und Technikaffinität der Endnutzer/innen. In: Mensch und Computer 2019 - Workshopband. Gesellschaft für Informatik e.V, 2019 mehr… BibTeX
  • Jahn, Eva; Reindl, Anton; Müller, Martin; Haddadin, Sami: Robotik: Wer sind die neuen Assistenten? Altenheim 03 (58), 2019, 30--33 mehr… BibTeX
  • Johannsmeier, Lars; Gerchow, Malkin; Haddadin, Sami: A framework for robot manipulation: Skill formalism, meta learning and adaptive control. 2019 International Conference on Robotics and Automation (ICRA), 2019 mehr… BibTeX
  • Krause, Julia; Jahn, Eva; Müller, Martin: Intuitive Interaktion mit kooperativen Assistenzrobotern für das 3. und 4. Lebensalter (KoBo34): Evaluation von Bedürfnissen und Technikaffinität der Endnutzer. In: Friedrich, Petra; Fuchs, Dominik (Hrsg.): 6. Ambient Medicinei̧rcledR Forum \glqqAssistive Technik für selbstbestimmtes Wohnen\grqq (Band 6). Cuvillier Verlag, 2019, 97--101 mehr… BibTeX
  • Kuehn, Johannes; Ringwald, Johannes; Schappler, Moritz; Johannsmeier, Lars; Haddadin, Sami: Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype. International Conference on Robotics and Automation 2019, 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
  • Ma’touq, Jumana; Hu, Tingli; Haddadin, Sami: A validated combined musculotendon path and muscle-joint kinematics model for the human hand. Computer methods in biomechanics and biomedical engineering, 2019, 1--13 mehr… BibTeX Volltext ( DOI )
  • Sauer, Axel; Aljalbout, Elie; Haddadin, Sami: Tracking Holistic Object Representations. British Machine Vision Conference (BMVC), 2019 mehr… BibTeX
  • Schappler, Moritz; Lilge, Torsten; Haddadin, Sami: Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints. IFToMM World Congress, 2019 mehr… BibTeX Volltext ( DOI )
  • Shahriari, Erfan; Zardykhan, Dinmukhamed; Koenig, Alexander; Jensen, Elisabeth; Haddadin, Sami: Energy-based Adaptive Control and Learning for Patient-Aware Rehabilitation. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 mehr… BibTeX
  • Zardykhan, Dinmukhamed; Svarny, Petr; Hoffmann, Matej; Shahriari, Erfan; Haddadin, Sami: Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-Robot Collaboration. 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019 mehr… BibTeX

2018

  • Diaz Ledezma, Fernando; Haddadin, Sami: FOP Networks for Learning Humanoid Body Schema and Dynamics. accepted in 2018 IEEE-RAS 18th International Conference on Humanoid Robotics (Humanoids), 2018 mehr… BibTeX
  • Grassmann, Reinhard; Johannsmeier, Lars; Haddadin, Sami: Smooth Point-to-Point Trajectory Planning in $ SE $(3) with Self-Collision and Joint Constraints Avoidance. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 mehr… BibTeX
  • Haddadin, S.; Krieger, K.; Albu-Schäffer, A.; Lilge, T.: Exploiting Elastic Energy Storage for ``Blind'' Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling. IEEE Transactions on Robotics 34 (1), 2018, 91-112 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Johannsmeier, Lars: The Art of Manipulation: Learning to Manipulate Blindly. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 mehr… BibTeX
  • Haddadin, Sami; Johannsmeier, Lars; Becker, Marvin; Schappler, Moritz; Lilge, Torsten; Haddadin, Simon; Schmid, Johannes; Ende, Tobias; Parusel, Sven: Roboterfabrik: a pilot to link and unify german robotics education to match industrial and societal demands. Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, 2018 mehr… BibTeX
  • Haddadin, Sami; Johannsmeier, Lars; Schmid, Johannes; Ende, Tobias; Parusel, Sven; Haddadin, Simon; Schappler, Moritz; Lilge, Torsten; Becker, Marvin: roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands. In: Lepuschitz, Wilfried; Merdan, Munir; Koppensteiner, Gottfried; Balogh, Richard; Obdržálek, David (Hrsg.): Robotics in Education. Springer International Publishing, 2018, 3--17 mehr… BibTeX Volltext ( DOI )
  • Hu, T.; Kühn, J.; Ma'touq, J.; Haddadin, S.: Learning and Identification of human upper-limb muscle synergies in daily-life tasks with autoencoders. Accepted OTWorld Congress, 2018 mehr… BibTeX
  • Hu, Tingli; Kuehn, Johannes; Haddadin, Sami: Identification of Human Shoulder-Arm Kinematic and Muscular Synergies During Daily-Life Manipulation Tasks. 7th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018, Enschede, The Netherlands, August 26-29, 2018, 2018 mehr… BibTeX Volltext ( DOI )
  • Hu, Tingli; Kuehn, Johannes; Haddadin, Sami: Forward and inverse dynamics modelling of human shoulder-arm musculoskeletal system with scapulothoracic constraint. submitted to Computer Methods in Biomechanics and Biomedical Engineering, 2018 mehr… BibTeX
  • Kramberger, Aljaž; Shahriari, Erfan; Gams, Andrej; Nemec, Bojan; Ude, Aleš; Haddadin, Sami: Passivity Based Iterative Learning of Admittance-Coupled DynamicMovement Primitives for Interaction with Changing Environments. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018p. 6023--6028 mehr… BibTeX
  • Kühn, Johannes; Hu, Tingli; Schappler, Moritz; Haddadin, Sami: Dynamics Simulation for an Upper-Limb Human-Exoskeleton Assistance System in a Latent-Space Controlled Tool Manipulation Task. IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018 mehr… BibTeX
  • Ledezma, Fernando Díaz; Haddadin, Sami: FOP Networks for Learning Humanoid Body Schema and Dynamics. 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018 mehr… BibTeX
  • Li, Yanan; Ganesh, Gowrishankar; Jarrasse, Nathanael; Haddadin, Sami; Albu-Schaeffer, Alin; Burdet, Etienne: Force, impedance and trajectory learning for contact tooling and haptic identification. IEEE Transactions on Robotics, 2018 mehr… BibTeX Volltext ( DOI )
  • 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 )
  • Ma’touq, Jumana; Hu, Tingli; Haddadin, Sami: Sub-millimetre accurate human hand kinematics: from surface to skeleton. Computer Methods in Biomechanics and Biomedical Engineering, 2018 mehr… BibTeX Volltext ( DOI )
  • Müller, MG; Steidle, F; Schuster, MJ; Lutz, P; Maier, M; Stoneman, S; Tomic, T; Stürzl, W: Robust Visual-Inertial State Estimation with Multiple Odometries and Efficient Mapping on an MAV with Ultra-Wide FOV Stereo Vision. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 mehr… BibTeX
  • Shahriari, Erfan; Johannsmeier, Lars; Haddadin, Sami: Valve-based Virtual Energy Tanks: A Framework to Simultaneously Passify Controls and Embed Control Objectives. 2018 Annual American Control Conference (ACC), 2018 mehr… BibTeX
  • Toedtheide, Alexander; Haddadin, Sami: CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists. IEEE Robotics and Automation Letters 3 (4), 2018, 3537--3544 mehr… BibTeX Volltext ( DOI )
  • Tomić, Teodor; Lutz, P; Schmid, K; Mathers, A; Haddadin, Sami: Simultaneous Contact and Aerodynamic Force Estimation for Aerial Robots. International Journal of Robotics Reseach (IJRR), 2018 mehr… BibTeX

2017

  • Diaz Ledezma, Fernando; Haddadin, Sami: First-Order-Principles-Based Constructive Network Topologies: An Application to Robot Inverse Dynamics. IEEE RAS International Conference on Humanoid Robots, 2017 mehr… BibTeX
  • Haddadin, Sami: Passivity-Based Force/Impedance Control. Submitted to: IEEE Transactions on Robotics, 2017 mehr… BibTeX
  • Haddadin, Sami: Passivitätsbasierte Kraft- und Impedanzregelung für Roboter mit starren Gelenken mittels Energietanks. at - Automatisierungstechnik 65 (2), 2017, 124--133 mehr… BibTeX Volltext ( DOI )
  • Johannsmeier, L.; Haddadin, S.: A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes. IEEE Robotics and Automation Letters 2 (1), 2017, 41-48 mehr… BibTeX Volltext ( DOI )
  • Kuehn, J.; Haddadin, S.: An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts. IEEE Robotics and Automation Letters 2 (1), 2017, 72-79 mehr… BibTeX Volltext ( DOI )
  • 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
  • Shahriari, Erfan; Kramberger, Aljaž; Gams, Andrej; Ude, Aleš; Haddadin, Sami: Safely Adapting to Contacts: Energy Tanks and Task Energy for Passivity-Based Dynamic Movement Primitives. IEEE RAS International Conference on Humanoid Robots, 2017 mehr… BibTeX
  • Toedtheide, A.; Shahriari, E.; Haddadin, S.: Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017 mehr… BibTeX Volltext ( DOI )
  • Tomic, Teodor; Haddadin, Sami: Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms. International Symposium on Robotics Research (ISRR2017), 2017 mehr… BibTeX
  • Tomic, Teodor; Ott, Christian; Haddadin, Sami: External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots. IEEE Transactions on Robotics 33 (6), 2017, 1467-1482 mehr… BibTeX Volltext ( DOI )
  • Tödtheide, A.; Kühn, J.; Haddadin, S.: Proprio- and Exteroceptive Reflexes for a Pneumatically Actuated Finger based on the artificial Robot Nervous System. ICRA 2017 all-day workshop on ``The robotic sense of touch: from sensing to understanding'', 2017 mehr… BibTeX
  • Vorndamme, J.; Schappler, M.; Haddadin, S.: Collision Handling for Humanoids using Proprioceptive Sensing. IEEE International Conference on Robotics and Automation (ICRA), Workshop: The Robotic Sense of Touch: From Sensing to Understanding, 2017 mehr… BibTeX
  • Vorndamme, J.; Schappler, M.; Haddadin, S.: Collision detection, isolation and identification for humanoids. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017 mehr… BibTeX Volltext ( DOI )

2016

  • Haddadin, Sami: Demokratisierung der digitalisierten Automation: Der vernetzte, feinfühlige und lernfähige Roboter für Jedermann. 2016 mehr… BibTeX
  • Haddadin, Sami; Croft, Elizabeth: Physical Human--Robot Interaction. In: Siciliano, Bruno; Khatib, Oussama (Hrsg.): Springer Handbook of Robotics. Springer International Publishing, 2016, 1835--1874 mehr… BibTeX Volltext ( DOI )
  • 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 )
  • Johannsmeier, L.; Ringwald, J.; Kuehn, J.; Haddadin, S.: Teleoperated Semi-Autonomous Control of the LWR and a Humanoid Hand via the Myo Armband. IEEE International Conference on Robotics and Automation (ICRA), Workshop on Human-robot interfaces for enhanced physical interactions, 2016 mehr… BibTeX
  • Kuehn, J.; Vorndamme, J.; Schappler, M.; Haddadin, S.: Humanoid Collision Reflex Sequences based on an artificial Robot Nervous System including Contact Location and Direction. IEEE International Conference on Robotics and Automation (ICRA), Workshop on Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions, 2016 mehr… BibTeX
  • 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 )
  • Toedtheide, A.; Lilge, T.; Haddadin, S.: Antagonistic Impedance Control for Pneumatically Actuated Robot Joints. Robotics and Automation Letters, IEEE 1 (1), 2016, 161-168 mehr… BibTeX Volltext ( DOI )
  • Valle, Carlos Magno CO; Tanscheit, Ricardo; Mendoza, Leonardo A Forero: Computed-torque control of a simulated bipedal robot with locomotion by reinforcement learning. 2016 IEEE Latin American Conference on Computational Intelligence (LA-CCI), 2016 mehr… BibTeX
  • Vorndamme, Jonathan; Schappler, Moritz; Tödtheide, Alexander; Haddadin, Sami: Soft Robotics for the Hydraulic Atlas Arms: Joint Impedance Control with Collision Detection and Disturbance Compensation. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 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 )
  • Golz, Saskia; Osendorfer, Christian; Haddadin, Sami: Learning to discriminate interaction and collisions. Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015 mehr… BibTeX
  • Golz, Saskia; Osendorfer, Christian; Haddadin, Sami: Using tactile sensation for learning contact knowledge: Discriminate collision from physical interaction. Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami: Optimal Exploitation of Soft-Robot Dynamics. In: Verl, A.; Albu-Schäffer, A.; Brock, O.; Raatz, A. (Hrsg.): Soft Robotics - Transferring Theory to Application. Springer Vieweg, 2015, 92-99 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami: Physical Safety in Robotics. In: Drechsler, Rolf; Kühne, Ulrich (Hrsg.): Formal Modeling and Verification of Cyber-Physical Systems. Springer Fachmedien Wiesbaden, 2015, 249-271 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami: Robots for Humans. 2015 German American Frontiers of Engineering, GAFOE 2015 of National Academy of Engineering of the National Academies & Alexander von Humboldt Foundation, 2015 mehr… BibTeX
  • Haddadin, Sami; De Luca, Alessandro; Albu-Schäffer, Alin: Robot Collisions: Detection, Isolation, and Identification. Submitted to IEEE Transactions on Robotics, 2015 mehr… BibTeX
  • Johannsmeier, Lars; Haddadin, Sami: A framework for task allocation in collaborative industrial assembly processes. 8th International Workshop on Human-Friendly Robotics, 2015 mehr… BibTeX
  • Kühn, Johannes; Haddadin, Sami: The Robot Nervous System RNS: Teaching Robots to Feel Pain. To be submitted, 2015 mehr… BibTeX
  • K̈uhn, Johannes; Haddadin, Sami: Pain Reflexes For Robots To Evade Noxious Contact Events. 8th International Workshop on Human-Friendly Robotics, 2015 mehr… BibTeX
  • 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 )
  • Povse, Borut; Haddadin, Sami; Belder, Rico; Koritnik, Darko; Bajd, Tadej: A Tool for Evaluation of Human Lower Arm Injury: Approach, Experimental Validation and Application to Safe Robotics. Robotica, 2015, 1--17 mehr… BibTeX Volltext ( DOI )
  • Schappler, Moritz; Vorndamme, Jonathan; Tödtheide, Alexander; Conner, David; von Stryk, Oskar; Haddadin, Sami: Modeling, Identification and Impedance Control of the Atlas Arms. Humanoid Robots, 15th IEEE-RAS International Conference on, 2015 mehr… BibTeX Volltext ( DOI )
  • Schindlbeck, C.; Haddadin, S.: Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks. Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015 mehr… BibTeX Volltext ( DOI )
  • Tomic, T.; Haddadin, S.: Simultaneous estimation of aerodynamic and contact forces in flying robots: Applications to metric wind estimation and collision detection. Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015 mehr… BibTeX Volltext ( DOI )
  • Tödtheide, Alexander; Lilge, Torsten; Haddadin, Sami: Compliant Interaction with an Antagonistic Pneumatically Controlled Robot Joint. 8th International Workshop on Human-Friendly Robotics, 2015 mehr… BibTeX
  • Vogel, J.; Haddadin, S.; Jarosiewicz, B.; Simeral, J.D.; Bacher, D.; Hochberg, L.R.; Donoghue, J.P.; van der Smagt, P.: An assistive decision-and-control architecture for force-sensitive hand–arm systems driven by human–machine interfaces. The International Journal of Robotics Research 34 (6), 2015, 763-780 mehr… BibTeX Volltext ( DOI )
  • Vorndamme, Jonathan; Schappler, Moritz; T̈odtheide, Alexander; Haddadin, Sami: Collision Detection with a Hydraulically Actuated Robot Arm. 8th International Workshop on Human-Friendly Robotics, 2015 mehr… BibTeX

2014

  • Haddadin, Sami: Towards Safe Robots. Springer Tracts in Advanced Robotics 90. Springer Berlin Heidelberg, 2014 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami: Dynamic and Safe Motion Planning for Human Environments. IROS 2014 Workshop: Real-time Motion Generation & Control – Constraint-based Robot Programming, 2014 mehr… BibTeX
  • Haddadin, Sami; Haddadin, Simon; Khoury, Augusto; Rokahr, Tim; Parusel, Sven; Burgkart, Rainer; Bicchi, Antonio; Albu-Schäffer, Alin: Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion. at - Automatisierungstechnik 62, 2014, 175-187 mehr… BibTeX Volltext ( DOI )
  • Kaldestad, K.B.; Haddadin, S.; Belder, R.; Hovland, G.; Anisi, D.A.: Collision avoidance with potential fields based on parallel processing of 3D-point cloud data on the GPU. Robotics and Automation (ICRA), 2014 IEEE International Conference on, 2014 mehr… BibTeX Volltext ( DOI )
  • 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
  • Park, Jung-Jun; Song, Jae-Bok; Haddadin, Sami: Collision analysis and safety evaluation using a collision model for the frontal robot-human impact. Robotica 32, 2014, 1-15 mehr… BibTeX Volltext ( DOI )
  • Parusel, Sven; Widmoser, Hannes; Golz, Saskia; Ende, Tobias; Blodow, Nico; Saveriano, Matteo; Krieger, Kai; Maldonado, Alexis; Kresse, Ingo; Weitschat, Roman; Lee, Dongheui; Beetz, Michael; Haddadin, Sami: Human-Robot interaction Planning. 2014 mehr… BibTeX
  • Tomic, T.; Haddadin, S.: A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots. Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014 mehr… BibTeX Volltext ( DOI )
  • Tomic, T.; Maier, M.; Haddadin, S.: Learning quadrotor maneuvers from optimal control and generalizing in real-time. Robotics and Automation (ICRA), 2014 IEEE International Conference on, 2014 mehr… BibTeX Volltext ( DOI )
  • Vogel, Jörn; Haddadin, Sami; Simeral, John D.; Stavisky, Sergey D.; Bacher, Daniel; Hochberg, Leigh R.; Donoghue, John P.; van der Smagt, Patrick: Continuous Control of the {DLR} Light-Weight Robot {III} by a Human with Tetraplegia Using the BrainGate2 Neural Interface System. In: Khatib, Oussama; Kumar, Vijay; Sukhatme, Gaurav (Hrsg.): Experimental Robotics. Springer, 2014, 125-136 mehr… BibTeX Volltext ( DOI )
  • ̈Ozparpucu, Can Mehmet; Haddadin, Sami: Optimal control of elastic joints with variable damping. Control Conference (ECC), 2014 European, 2014 mehr… BibTeX Volltext ( DOI )
  • ̈Ozparpucu, Can Mehmet; Haddadin, Sami; Albu-Schäffer, Alin: Optimal Control of Variable Stiffness Actuators with Nonlinear Springs. 19th IFAC World Congress, 2014 mehr… BibTeX Volltext ( DOI )

2013

  • Bohren, Jonathan; Papazov, Chavdar; Burschka, Darius; Krieger, Kai; Parusel, Sven; Haddadin, Sami; Shepherdson, William L; Hager, Gregory D; Whitcomb, Louis L: A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks. Robotics and Automation (ICRA), 2013 IEEE International Conference on, 2013 mehr… BibTeX Volltext ( DOI )
  • Braun, David J.; Petit, Florian; Huber, Felix; Haddadin, Sami; van der Smagt, Patrick; Albu-Schäffer, Alin; Vijayakumar, Sethu: Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints. Robotics, IEEE Transactions on 29 (5), 2013, 1085-1101 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Mansfeld, Nico: Human Injury Analysis in Robotics: An Overview. International Conference on Intelligent Robots and Systems (IROS), Workshop, 2013 mehr… BibTeX
  • Haddadin, Sami; Parusel, Sven; Belder, Rico; Albu-Schäffer, Alin: It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning. In: Bitsch, Friedemann; Guiochet, Jérémie; Kaâniche, Mohamed (Hrsg.): Computer Safety, Reliability, and Security (SAFECOMP 2013). Springer Berlin Heidelberg, 2013, 202--215 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Simon; Haddadin, Sami: Human-centered robotics-Biomechanics & Safety Laboratory of the Robotics and Mechatronics Center. Biomechanica Hungarica 5 (1), 2013, 7--9 mehr… BibTeX Volltext ( DOI )
  • Huber, Felix; Kondak, Konstantin; Krieger, Kai; Sommer, Dominik; Schwarzbach, Marc; Laiacker, Maximilian; Kossyk, Ingo; Parusel, Sven; Haddadin, Sami; Albu-Schäffer, Alin: First analysis and experiments in aerial manipulation using fully actuated redundant robot arm. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013 mehr… BibTeX Volltext ( DOI )
  • Sharma, Karan; Haddadin, Sami; Minning, Sebastian; Heindl, Johann; Bellmann, Tobias; Parusel, Sven; Rokahr, Tim; Albu-Schäffer, Alin: Evaluation of human safety in the {DLR} Robotic Motion Simulator using a crash test dummy. Robotics and Automation (ICRA), 2013 IEEE International Conference on, 2013 mehr… BibTeX Volltext ( DOI )
  • Vanderborght, Bram; Albu-Schäffer, Alin; Bicchi, Antonio; Burdet, Etienne; Caldwell, Darwin G.; Carloni, Raffaella; Catalano, Manuel G.; Eiberger, Oliver; Friedl, Werner; Ganesh, Gowrishankar; others: Variable impedance actuators: A review. Robotics and Autonomous Systems 61 (12), 2013, 1601-1614 mehr… BibTeX Volltext ( DOI )
  • Weitschat, Roman; Haddadin, Sami; Huber, Felix; Albu-Schäffer, Alin: Dynamic optimality in real-time: A learning framework for near-optimal robot motions. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013 mehr… BibTeX Volltext ( DOI )
  • Özparpucu, Can Mehmet; Haddadin, Sami: Optimal control for maximizing link velocity of visco-elastic joints. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013 mehr… BibTeX Volltext ( DOI )

2012

  • Braun, David J; Petit, Florian; Huber, Felix; Haddadin, Sami; Van Der Smagt, Patrick; Albu-Schäffer, Alin; Vijayakumar, Sethu: Optimal torque and stiffness control in compliantly actuated robots. Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012 mehr… BibTeX Volltext ( DOI )
  • Ganesh, Gowrishankar; Jarrasse, N.; Haddadin, Sami; Albu-Schäffer, Alin; Burdet, Etienne: A versatile biomimetic controller for contact tooling and haptic exploration. Robotics and Automation (ICRA), 2012 IEEE International Conference on, 2012 mehr… BibTeX Volltext ( DOI )
  • Grebenstein, Markus; Chalon, Maxime; Friedl, Werner; Haddadin, Sami; Wimböck, Thomas; Hirzinger, Gerd; Siegwart, Roland: The hand of the {DLR} Hand Arm System: Designed for interaction. The International Journal of Robotics Research 31 (13), 2012, 1531-1555 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Giordano, P. R.; Peer, Angelika: Editoral for the Special Issue on Autonomous Physical Human-Robot Interaction. The international Journal of Robotics Research 31, 2012, 1529--1530 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Haddadin, Simon; Khoury, Augusto; Rokahr, Tim; Parusel, Sven; Burgkart, Rainer; Bicchi, Antonio; Albu-Schäffer, Alin: On making robots understand safety: Embedding injury knowledge into control. The International Journal of Robotics Research 31 (13), 2012, 1578--1602 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Huber, Felix; Albu-Schäffer, Alin: Optimal control for exploiting the natural dynamics of variable stiffness robots. Robotics and Automation (ICRA), 2012 IEEE International Conference on, 2012 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Huber, Felix; Krieger, Kai; Weitschat, Roman; Albu-Schäffer, A; Wolf, Sebastian; Friedl, Werner; Grebenstein, Markus; Petit, Florian; Reinecke, Jens; others: Intrinsically elastic robots: The key to human like performance (Video). International Conference on Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ, 2012IROS 2012 Best Video Award mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Khoury, A.; Rokahr, T.; Parusel, S.; Burgkart, R.; Bicchi, A.; Albu-Schäffer, A.: A truly safely moving robot has to know what injury it may cause. Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012 mehr… BibTeX Volltext ( DOI )
  • 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 )
  • Haddadin, Sami; ̈Ozparpucu, Can Mehmet; Albu-Schäffer, Alin: Optimal control for maximizing potential energy in a variable stiffness joint. Decision and Control (CDC), 2012 IEEE 51st Annual Conference on, 2012 mehr… BibTeX Volltext ( DOI )
  • Hochberg, Leigh R.; Bacher, Daniel; Jarosiewicz, Beata; Masse, Nicolas Y.; Simeral, John D.; Vogel, Joern; Haddadin, Sami; Liu, Jie; Cash, Sydney S.; van der Smagt, Patrick; others: Reach and grasp by people with tetraplegia using a neurally controlled robotic arm. Nature 485 (7398), 2012, 372--375 mehr… BibTeX Volltext ( DOI )
  • Papazov, Chavdar; Haddadin, Sami; Parusel, Sven; Krieger, Kai; Burschka, Darius: Rigid 3D geometry matching for grasping of known objects in cluttered scenes. The International Journal of Robotics Research 31 (4), 2012, 538--553 mehr… BibTeX Volltext ( DOI )
  • Sharma, Karan; Haddadin, Sami; Heindl, Johann; Bellmann, Tobias; Parusel, Sven; Rokahr, Tim; Minning, Sebastian; Hirzinger, Gerd: Serial Kinematics based Motion Simulator - Evaluation of safety of the Passenger. The 7th International Conference on the Safety of Industrial Automated Systems (SIAS-2012), 2012 mehr… BibTeX
  • Vanderborght, Bram; Albu-Schäffer, A; Bicchi, Antonio; Burdet, Etienne; Caldwell, D; Carloni, Raffaella; Catalano, M; Ganesh, G; Garabini, Manolo; Grebenstein, Markus; others: Variable impedance actuators: moving the robots of tomorrow (Video). Intelligent Robots and Systems (IROS 2012), 2012 IEEE/RSJ International Conference on, 2012IROS 2012 Best Jubilee Video Award mehr… BibTeX Volltext ( DOI )
  • Vorndamme, J.; Petereit, S.; Pitzer, B.; Roan, P.; Lilge, T.; Albert, A.: Robotic System for Mapping 3D in-wall Information for Craftsmen. Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012), VDE Verlag, Berlin, 2012CD-ROM mehr… BibTeX

2011

  • Albu-Schäffer, Alin; Eiberger, Oliver; Fuchs, Matthias; Grebenstein, Markus; Haddadin, Sami; Ott, Christian; Stemmer, Andreas; Wimböck, Thomas; Wolf, Sebastian; Borst, Christoph; others: Anthropomorphic soft robotics--from torque control to variable intrinsic compliance. In: Robotics Research. Springer, 2011, 185--207 mehr… BibTeX Volltext ( DOI )
  • Ende, Tobias; Haddadin, Sami; Parusel, Sven; Wusthoff, Tilo; Hassenzahl, Marc; Albu-Schäffer, Alin: A human-centered approach to robot gesture based communication within collaborative working processes. Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, 2011 mehr… BibTeX Volltext ( DOI )
  • Grebenstein, Markus; Albu-Schäffer, Alin; Bahls, Thomas; Chalon, Maxime; Eiberger, Oliver; Friedl, Werner; Gruber, Robin; Haddadin, Sami; Hagn, Ulrich; Haslinger, Robert; others: The {DLR} hand arm system. Robotics and Automation (ICRA), 2011 IEEE International Conference on, 2011 mehr… BibTeX Volltext ( DOI )
  • Haddadin, S.; Albu-Schäffer, A.; Haddadin, F.; Ro\ss{}mann, J.; Hirzinger, G.: Study on Soft-Tissue Injury in Robotics. Robotics Automation Magazine, IEEE 18 (4), 2011, 20-34 mehr… BibTeX Volltext ( DOI )
  • Haddadin, S.; Krieger, K.; Albu-Schäffer, A.: Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling. Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, 2011 mehr… BibTeX Volltext ( DOI )
  • Haddadin, S.; Krieger, K.; Kunze, M.; Albu-Schäffer, A.: Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot. Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, 2011 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami: Towards safe robots: approaching Asimov's 1st law. Dissertation, 2011 mehr… BibTeX
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Safe physical human-robot interaction: measurements, analysis and new insights. In: Robotics Research. Springer, 2011, 395--407 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Belder, Rico; Albu-Schäffer, Alin: Dynamic motion planning for robots in partially unknown environments. Proceedings of the 18th IFAC World Congress, 2011, 2011 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Parusel, Sven; Belder, Rico; Albu-Schäffer, Alin; Hirzinger, Gerd: Safe acting and manipulation in human environments: A key concept for robots in our society. Workshop on Advanced Robotics and its Social Impacts (ARSO), 2011, 2011 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Suppa, Michael; Fuchs, Stefan; Bodenmüller, Tim; Albu-Schäffer, Alin; Hirzinger, Gerd: Towards the robotic co-worker. In: Robotics Research. Springer, 2011, 261--282 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Weis, Michael; Wolf, Sebastian; Albu-Schäffer, Alin: Optimal control for maximizing link velocity of robotic variable stiffness joints. Proceedings of the 18th IFAC World Congress, 2011, 2011 mehr… BibTeX Volltext ( DOI )
  • Park, Jung-Jun; Haddadin, Sami; Song, Jae-Bok; Albu-Schäffer, A: Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions. Robotics and Automation (ICRA), 2011 IEEE International Conference on, 2011 mehr… BibTeX Volltext ( DOI )
  • Parusel, Sven; Haddadin, Sami; Albu-Schäffer, Alin: Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot. Robotics and Automation (ICRA), 2011 IEEE International Conference on, 2011 mehr… BibTeX Volltext ( DOI )
  • Yang, Chenguang; Ganesh, Gowrishankar; Haddadin, Sami; Parusel, Sven; Albu-Schäffer, Alin; Burdet, Etienne: Human-like adaptation of force and impedance in stable and unstable interactions. Robotics, IEEE Transactions on 27 (5), 2011, 918--930 mehr… BibTeX Volltext ( DOI )

2010

  • Albu-Schäffer, Alin; Wolf, Sebastian; Eiberger, Oliver; Haddadin, Sami; Petit, Florian; Chalon, Maxime: Dynamic modelling and control of variable stiffness actuators. Robotics and Automation (ICRA), 2010 IEEE International Conference on, 2010 mehr… BibTeX Volltext ( DOI )
  • Bischoff, Rainer; Kurth, Johannes; Schreiber, Guenter; Koeppe, Ralf; Albu-Schäffer, Alin; Beyer, Alexander; Eiberger, Oliver; Haddadin, Sami; Stemmer, Andreas; Grunwald, Gerhard; Hirzinger, Gerhard: The {KUKA-DLR} Lightweight Robot arm - a new reference platform for robotics research and manufacturing. Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), 2010 mehr… BibTeX
  • Burger, Robert; Haddadin, Sami; Plank, Georg; Parusel, Sven; Hirzinger, Gerhard: The driver concept for the {DLR} Lightweight Robot {III}. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, 2010 mehr… BibTeX Volltext ( DOI )
  • Eiberger, Oliver; Haddadin, Sami; Weis, Michael; Albu-Schäffer, Alin; Hirzinger, Gerd: On joint design with intrinsic variable compliance: derivation of the {DLR} {QA}-Joint. Robotics and Automation (ICRA), 2010 IEEE International Conference on, 2010 mehr… BibTeX Volltext ( DOI )
  • Fuchs, Stefan; Haddadin, Sami; Keller, Maik; Parusel, Sven; Kolb, Andreas; Suppa, Michael: Cooperative bin-picking with time-of-flight camera and impedance controlled {DLR} lightweight robot {III}. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, 2010 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami.; Parusel, Sven; Belder, Rico; Vogel, Jörn; Rokahr, Tim; Albu-Schäffer, Alin; Hirzinger, Gerd: Holistic design and analysis for the human-friendly robotic co-worker. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ Intl. Conf., 2010 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Eiberger, Oliver; Hirzinger, Gerd: New insights concerning intrinsic joint elasticity for safety. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, 2010 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Safety analysis for a human-friendly manipulator. International Journal of Social Robotics 2 (3), 2010, 235--252 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Soft-tissue injury in robotics. Robotics and Automation (ICRA), 2010 IEEE International Conference on, 2010 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Suppa, Michael; Fuchs, Stefan; Bodenmüller, Tim; Albu-Schäffer, Alin; Hirzinger, Gerd: {Konzepte für den Roboterassistenten der Zukunft} - {T}owards the Robotic Co-Worker. at - Automatisierungstechnik 58 (12), 2010, 695--708 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Urbanek, Holger; Parusel, Sven; Burschka, Darius; Rossmann, Jürgen; Albu-Schäffer, Alin; Hirzinger, Gerd: Real-time reactive motion generation based on variable attractor dynamics and shaped velocities. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, 2010 mehr… BibTeX Volltext ( DOI )

2009

  • Haddadin, Sami; Albu-Schäffer, A; Frommberger, Mirko; Rossmann, Jurgen; Hirzinger, Gerd: The '{DLR} Crash Report': Towards a standard crash-testing protocol for robot safety-part {II}: Discussions. Robotics and Automation (ICRA), 2009 IEEE International Conference on, 2009 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Frommberger, Mirko; Rossmann, Jurgen; Hirzinger, Gerd: The '{DLR} Crash Report': Towards a standard crash-testing protocol for robot safety-part I: Results. Robotics and Automation (ICRA), 2009 IEEE International Conference on, 2009 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Requirements for safe robots: Measurements, analysis and new insights. The International Journal of Robotics Research 28 (11-12), 2009, 1507--1527 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Laue, Tim; Frese, Udo; Wolf, Sebastian; Albu-Schäffer, Alin; Hirzinger, Gerd: Kick it with elasticity: Safety and performance in human--robot soccer. Robotics and Autonomous Systems 57 (8), 2009, 761--775 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Suppa, Michael; Fuchs, Stefan; Bodenmüller, Tim; Albu-Schäffer, Alin; Hirzinger, Gerd: Towards the Robotic Co-Worker. International Symposium on Robotics Research (ISRR), 2009 mehr… BibTeX

2008

  • Albu-Schäffer, Alin; Eiberger, Oliver; Grebenstein, Markus; Haddadin, Sami; Ott, Christian; Wimbock, Thomas; Wolf, Sebastian; Hirzinger, Gerd: Soft robotics. Robotics & Automation Magazine, IEEE 15 (3), 2008, 20--30 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; De Luca, Alessandro; Hirzinger, Gerd: Collision detection and reaction: A contribution to safe physical human-robot interaction. Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, 2008 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; De Luca, Alessandro; Hirzinger, Gerd: Evaluation of collision detection and reaction for a human-friendly robot on biological tissues. 6th IARP/IEEE/EURON Joint Workshop on Technical Challenges for Dependable Robots in Human Environments (IARP2008), 2008 mehr… BibTeX
  • Haddadin, Sami; Albu-Schäffer, Alin; Frommberger, Mirko; Hirzinger, Gerd: The role of the robot mass and velocity in physical human-robot interaction - Part {II}: Constrained blunt impacts. Robotics and Automation (ICRA), 2008 IEEE International Conference on, 2008 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Safety in Human-Robot Interaction. Robotics Science and Systems Conference (RSS), Workshop, 2008 mehr… BibTeX
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts. Robotics and Automation (ICRA), 2008 IEEE International Conference on, 2008 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Strohmayr, Michael; Frommberger, Mirko; Hirzinger, Gerd: Injury evaluation of human-robot impacts (Video). Robotics and Automation (ICRA), 2008 IEEE International Conference on, 2008 mehr… BibTeX Volltext ( DOI )
  • Wolf, Sebastian; Albu-Schäffer, Alin; Haddadin, Sami; Hirzinger, Gerd: From Actively Compliant Lightweight Robots to Intrinsically Compliant System. First workshop for young researchers on Human-friendly robotics, 2008 mehr… BibTeX

2007

  • Albu-Schäffer, Alin; Haddadin, Sami; Ott, Christian; Stemmer, Andreas; Wimböck, Thomas; Hirzinger, Gerd: The DLR lightweight robot: design and control concepts for robots in human environments. Industrial Robot: An International Journal 34 (5), 2007, 376--385 mehr… BibTeX Volltext ( DOI )
  • Borst, Christoph; Ott, Christian; Wimbock, Thomas; Brunner, Bernhard; Zacharias, Franziska; Bäuml, Berthold; Hillenbrand, Ulrich; Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: A humanoid upper body system for two-handed manipulation (Video). Robotics and Automation, 2007 IEEE International Conference on, 2007 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Dummy crash-tests for the evaluation of rigid human-robot impacts. IARP-IEEE/RAS-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, 2007 mehr… BibTeX
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Approaching Asimov's 1st Law (Video). International Conference on Human-Robot Interaction (HRI2007), 2007 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Safe physical human-robot interaction: measurements, analysis & new insights. International symposium on robotics research (ISRR2007), 2007 mehr… BibTeX
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Approaching Asimov's 1st law: The impact of the robot's weight class. Robotics: Science and Systems Conference Workshop: Robot Manipulation: Sensing and adapting the real world (RSS2007), 2007 mehr… BibTeX
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing. Proceedings of Robotics: Science and Systems, 2007 mehr… BibTeX
  • Haddadin, Sami; Holzhammer, Carolin; Huy, Philipp; Liu, Yipeng; Schmid, Andreas: Analysis on Future Context Broker Models and their Business Potential. In: Seamless Context-Aware Services in converged Mobile- and Enterprise-Networks. CDTM, 2007 mehr… BibTeX
  • Haddadin, Sami; Laue, Tim; Frese, Udo; Hirzinger, Gerd: Foul 2050: Thoughts on physical interaction in human-robot soccer. Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, 2007 mehr… BibTeX Volltext ( DOI )
  • Haddadin, Sami; Puchner, Stefan; Lui, Yipeng: Analysis on existing Architectures, Concepts, Projects or Even Products for Providing Location and other Types of Context Information. In: Seamless Context-Aware Services in converged Mobile- and Enterprise-Networks. CDTM, 2007 mehr… BibTeX

2006

  • De Luca, Alessandro; Albu-Schäffer, Alin; Haddadin, Sami; Hirzinger, Gerd: Collision detection and safe reaction with the {DLR-III} lightweight manipulator arm. International Conference on Intelligent Robots and Systems (IROS), 2006 IEEE/RSJ, 2006 mehr… BibTeX Volltext ( DOI )