Wissenschaftlicher Mitarbeiter
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
- Tel.: work +49 (89) 289 - 29456
- nico.mansfeld@tum.de
Research Interests
- Physical human-robot interaction
- Planning and control for safety
- Human injury biomechanics
- Flexible joint and variable compliance robots
- Redundancy resolution
Publications
2019
- Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration. accepted: IEEE Int. Conf. on Robotics and Automation (ICRA), 2019 mehr… BibTeX
- The Role of Robot Payload in the Safety Map Framework. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), 2019 mehr… BibTeX
- 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
- 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
- Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant Manipulators. {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS}), 2017 mehr… BibTeX
- 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
- Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time. In: Robotics Research: The 16th International Symposium ISRR. Springer International Publishing, 2016, 131--148 mehr… BibTeX Volltext ( DOI )
- 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
- 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 )
- A comparison of braking strategies for elastic joint robots. Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015 mehr… BibTeX Volltext ( DOI )
2014
- 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 )
- Braking elastic joint robots in near-minimum time. 7th International Workshop on Human-Friendly Robotics, 2014 mehr… BibTeX
2013
2012
- 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 )
- Rigid vs. elastic actuation: Requirements & performance. Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012 mehr… BibTeX Volltext ( DOI )