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2023

  • Becker, Marvin; Caspers, Philipp; Hattendorf, Tom; Lilge, Torsten; Haddadin, Sami; Muller, Matthias A.: Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators. 22nd IFAC World Congress, 2023 more… BibTeX
  • Birjandi, Seyed Ali Baradaran; Fortunić, Edmundo Pozo; Haddadin, Sami: Evaluation of Robot Manipulator Link Velocity and Acceleration Observer. 22nd IFAC World Congress, 2023 more… BibTeX
  • Blanco-Mulero, David; Alcan, Gokhan; Abu-Dakka, Fares J.; Kyrki, Ville: QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation. 2023 more… BibTeX
  • Bucker, Arthur Fender Coelho; Figueredo, Luis Felipe Cruz; Haddadin, Sami; Kapoor, Ashish; ma, shuang; Vemprala, Sai; Bonatti, Rogerio: LATTE: LAnguage Trajectory TransformEr. RMDO Workshop, IEEE International Conference on Robotics and Automation, ICRA 2023, 2023 more… BibTeX
  • Chen, Kejia; Bing, Zhenshan; Wu, Fan; Meng, Yuan; Kraft, André; Haddadin, Sami; Knoll, Alois: Contact-Aware Shaping and Maintenance of Deformable Linear Objects With Fixtures. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 more… BibTeX Full text ( DOI )
  • Chen, Xiao; Sadeghian, Hamid; Chen, Lingyun; Tröbinger, Mario; Swirkir, Abadalla; Naceri, Abdeldjallil; Haddadin, Sami: A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023 more… BibTeX Full text ( DOI )
  • Chen, Xiao; Sadeghian, Hamid; Li, Yanan; Haddadin, Sami: Tele-rehabilitation of Upper Extremity with GARMI Robot: Concept and Preliminary Results. 22nd IFAC World Congress, 2023 more… BibTeX
  • Dimova-Edeleva, Viktorija; Soto Rivera, Oscar; Laha, Riddhiman; Figueredo, Luis; Zavaglia, Melissa; Hadddin, Sami: Error-related Potentials in a Virtual Pick-and-Place Experiment: Toward Real-world Shared-control. 2023 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2023 more… BibTeX
  • Eckhoff, Moritz; Knobbe, Dennis; Zwirnmann, Henning; Swikir, Abdalla; Haddadin, Sami: Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles. 2023 IEEE/RSJ Int. Conf. Intell. Robot. Syst., IEEE, 2023 more… BibTeX
  • Groß, S; Obwegs, L; Li, J; Castaneda, T Spiegeler; Ganguly, A; Piazza, C; Haddadin, S: Transforming Tactile Interfaces: Tri-Axis Force Sensor for Sensory Signal Processing. Proceedings of the IEEE World Haptics Conference (WHC), 2023 more… BibTeX
  • Groß, Sonja; Hidalgo-Carvajal, Diego; Breimann, Silija; Stein, Nicolai; Ganguly, Amartya; Naceri, Abdeldjallil; Haddadin, Sami: Soft Sensing Skins for Arbitrary Objects: An Automatic Framework. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023 more… BibTeX Full text ( DOI )
  • Hamad, Mazin; Moreno, David Gutierrez; Kussaba, Hugo Tadashi; Mansfeld, Nico; Abdolshah, Saeed; Swikir, Abdalla; Burgard, Wolfram; Haddadin, Sami: Fast yet predictable braking manoeuvers for real-time robot control. 22nd IFAC World Congress, 2023 more… BibTeX
  • Heredia, Juan; Kirschner, Robin Jeanne; Schlette, Christian; Abdolshah, Saeed; Haddadin, Sami; Kjærgaard, Mikkel Baun: Labelling Lightweight Robot Energy Consumption: A Mechatronics-Based Benchmarking Metric Set. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 more… BibTeX Full text ( DOI )
  • Hidalgo-Carvajal, Diego; Naceri, Abdeldjallil; Haddadin, Sami: From Human Hand to Grasp Surface Detection, Tracking & Analysis. 2023 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2023 more… BibTeX Full text ( DOI )
  • Karacan, Kübra; Grover, Divij; Sadeghian, Hamid; Wu, Fan; Haddadin, Sami: Tactile Exploration Using Unified Force-Impedance Control. 22nd IFAC World Congress, 2023 more… BibTeX
  • Karacan, Kübra; Kirschner, Robin; Wu, Fan; Sadeghian, Hamid; Haddadin, Sami: The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control. accepted at: IEEE CDC, 2023 more… BibTeX
  • Kussaba, Hugo Tadashi; Swikir, Abdalla; Wu, Fan; Haddadin, Sami: Learning optimal controllers: A dynamical motion primitive approach. 22nd IFAC World Congress, 2023 more… BibTeX
  • Laha, Riddhiman; Wu, Wenxi; Sun, Ruiai; Mansfeld, Nico Figueredo, Luis F.C.; Haddadin, Sami: S∗: On Safe and Time Efficient Robot Motion Planning. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2023 more… BibTeX
  • Laha, Riddhiman; Wu, Wenxi; Sun, Ruiai; Mansfeld, Nico; Figueredo, Luis F.C.; Haddadin, Sami: S*: On Safe and Time Efficient Robot Motion Planning. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023 more… BibTeX Full text ( DOI )
  • Le, Tran Nguyen; Abu-Dakka, Fares J.; Kyrki, Ville: SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features. 2023 more… BibTeX
  • Nertinger, Simone; Das, Neha; Satoshi, Endo; Naceri, Abdeldjallil; Hirche, Sandra; Haddadin, Sami: Assessing Human-Human Kinematics for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A Pilot Study. 2023 International Conference on Rehabilitation Robotics (ICORR), 2023 more… BibTeX Full text ( DOI )
  • Nertinger, Simone; Kirschner, Robin; Abdolshah, Saeed; Naceri, Abdeldjallil; Haddadin, Sami: Influence of robot motion and human factors on users' perceived safety in HRI. 2023 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), 2023 more… BibTeX
  • Ossadnik, Dennis; Haddadin, Sami: Cross-coupling stiffness for natural goal-directed robot motion. 22nd IFAC World Congress, 2023 more… BibTeX
  • Peper, Kim K.; Aasmann, Alexander; Jensen, Elisabeth R.; Haddadin, Sami: Real-Time-Capable Muscle Force Estimation for Monitoring Robotic Rehabilitation Therapy in the Intensive Care Unit. 2023 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2023 more… BibTeX Full text ( DOI )
  • Sadek Belamfedel Alaoui, Adnane Saoud, Pushpak Jagtap,; Swikir, Abdalla: Symbolic Models for Interconnected Impulsive Systems. 2023 62th IEEE Conference on Decision and Control (CDC), 2023 more… BibTeX
  • Skerlj, Jon and Braun, Maximilian and Witz, Sophia and Breuer, Svenja and Bak, Marieke and Scholz, Sebastian and Naceri, Abdeldjallil and Müller, Ruth and Haddadin, Sami and Eisenberger, Iris: Data Recording for Responsible Robotics. 2023 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), 2023 more… BibTeX
  • Skerlj, Jon; Pérez-Suay, Daniel; Knebel, Severin; Sadeghian, Hamid; Naceri, Abdeldjallil; Haddadin, Sami: Virtual Reality-Based Framework for Service Robotics: Data monitoring and recording during rehabilitation scenarios. 22nd IFAC World Congress, 2023 more… BibTeX
  • Toedtheide, Alexander; Chen, Xiao; Sadeghian, Hamid; Naceri, Abdeldjallil; Haddadin, Sami: A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023 more… BibTeX Full text ( DOI )
  • Tröbinger, Mario; Naceri, Abdeldjallil; Chen, Xiao; Sadeghian, Hamid; Haddadin, Sami: Identification of a Generalized Base Inertial Parameter Set of Robotic Manipulators Considering Mounting Configurations. 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023 more… BibTeX Full text ( DOI )
  • Wu, Kai; Chen, Ee Heng; Burschka, Darius; Wirth, Felix; Vitanova, Keti; Lange, Ruediger: Continuous Risk Estimation of Acute Kidney Failure with Dense Temporal Data for ICU Patients. IEEE EMBC, 2023 more… BibTeX
  • Wu, Kai; Chen, Ee Heng; Burschka, Darius; Wirth, Felix; Vitanova, Keti; Lange, Ruediger: Risk Estimation for ICU Patients with Personalized Anomaly-Encoded Bedside Patient Data. IEEE EMBC, 2023 more… BibTeX
  • Wu, Yansong; Chen, Lingyun; Bing, Zhenshan; Wu, Fan; Knoll, Alois; Haddadin, Sami: Learning dynamic robot-to-robot tool handover. 22nd IFAC World Congress, 2023 more… BibTeX
  • Wu, Yuankai; Messaoud, Rayene; Chen, Xiao; Hildebrandt, Arne-Christoph; Baldini, Marco; Patsch, Constantin; Sadeghian, Hamid; Haddadin, Sami; Steinbach, Eckehard: Vision-driven Collaborative Mobile Robotic Human Assistant System for Daily Living Activities. 22nd IFAC World Congress, 2023 more… BibTeX
  • Xygonakis, Ioannis; Zavaglia, Melissa; Haddadin, Sami: Muscle Synergy-driven Motor Unit Clustering for Human-Machine Interfacing. 2023 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2023 more… BibTeX
  • Xygonakis, Ioannis; Zavaglia, Melissa; Haddadin, Sami: Robust Independent Component Analysis based EMG decomposition – a comparison study. 2023 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2023 more… BibTeX Full text ( DOI )
  • Yildirim, M.C.; Pisano, E.; Hamad, M.; Le Mesle, V.; Swikir, A.; Haddadin, S.: A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading. 2023 IEEE-RAS International Conference on Humanoid Robots, 2023 more… BibTeX
  • Ziyu Chen, Tingli Hu, Sami Haddadin and David W. Franklin: A Gradient-Based Method for Automated Muscle Path Calibration. The 29th Congress of the International Society of Biomechanics, 2023 more… BibTeX Full text (mediaTUM)
  • Zwirnmann, Henning; Knobbe, Dennis; Culha, Utku; Haddadin, Sami: Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023 more… BibTeX
  • Zwirnmann, Henning; Knobbe, Dennis; Haddadin, Sami: Towards Automated End-to-End Control for Holotomography Microscopy. 22nd IFAC World Congress, 2023 more… BibTeX

2022

  • Baradaran Birjandi, Seyed Ali; Dehio, Niels; Kheddar, Abderrahmane; Haddadin, Sami: Robust Cartesian Kinematics Estimation for Task-Space Control Systems. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Bucker, Arthur; Figueredo, Luis; Haddadin, Sami; Kapoor, Ashish; Ma, Shuang; Bonatti, Rogerio: Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Chen, Xiao; Johannsmeier, Lars; Sadeghian, Hamid; Shahriari, Erfan; Danneberg, Martin; Nicklas, Anselm; Wu, Fan; Fettweis, Gerhard; Haddadin, Sami: On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Dimova-Edeleva, Viktorija; Hu, Tingli; Zavaglia, Melissa; Jensen, Elisabeth R.; Hadddin, Sami: Movement Primitives of the Shoulder-Arm in Activities of Daily Living. 31st NCM Annual Meeting, 2022 more… BibTeX
  • Eckhoff, Moritz; Kirschner, Robin Jeanne; Kern, Elena; Abdolshah, Saeed; Haddadin, Sami: An MPC Framework For Planning Safe & Trustworthy Robot Motions. 2022 International Conference on Robotics and Automation (ICRA), 2022 more… BibTeX Full text ( DOI )
  • Groß, Sonja; Breimann, Silija; Schwarz, Sascha Ganguly; Amartya; Haddadin, Sami: Embedded 3D Printing: A Cost-effective Development Platform for Tactile Sensors. Haptics: Science, Technology, Applications: 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, Hamburg, Germany, May 22--25, 2022, Proceedings, 2022 more… BibTeX
  • Hidalgo-Carvajal, Diego; Valle, Carlos Magno C. O.; Naceri, Abdeldjallil; Haddadin, Sami: Object-Centric Grasping Transferability: Linking Meshes to Postures. 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022 more… BibTeX Full text ( DOI )
  • Johannsmeier, Lars; Haddadin, Sami: Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Karacan, Kübra; Sadeghian, Hamid; Kirschner, Robin; Haddadin, Sami: Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Kirschner, Robin Jeanne; Martineau, Florian; Mansfeld, Nico; Abdolshah, Saeed; Haddadin, Sami: Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Knobbe, Dennis; Zwirnmann, Henning; Eckhoff, Moritz; Haddadin, Sami: Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Kurdas, Alexander; Hamad, Mazin; Vorndamme, Jonathan; Mansfeld, Nico; Abdolshah, Saeed; Haddadin, Sami: Online Payload Identification for Tactile Robots Using the Momentum Observer. 2022 International Conference on Robotics and Automation (ICRA), 2022 more… BibTeX Full text ( DOI )
  • Laha, Rachele Nebbia Colomba AND Riddhiman; Figueredo, Luis; Haddadin, Sami: Adaptive Admittance Control for Cooperative Manipulation using Dual Quaternion Representation and Logarithmic Mapping. IEEE Conference on Decision and Control (CDC), IEEE, 2022 more… BibTeX
  • Laha, Riddhiman; Sun, Ruiai; Wu, Wenxi; Mahalingam, Dasharadhan; Chakraborty, Nilanjan; Figueredo, Luis FC; Haddadin, Sami: Coordinate invariant user-guided constrained path planning with reactive rapidly expanding plane-oriented escaping trees. 2022 International Conference on Robotics and Automation (ICRA), 2022 more… BibTeX
  • Lang, Jan; Fechter, Florian; Peper, Kim; Micheler, Carina; Wilhelm, Nikolas; Jensen, Elisabeth; Haddadin, Sami; Eisenhart-Rothe, Rüdiger; Burgkart, Rainer: Spezifische Aktivierung der Rumpfmuskulatur beim Balance-Training durch Immobilisation des Beckens. German Congress of Orthopaedics and Traumatology, DKOU 2022, 2022 more… BibTeX Full text ( DOI )
  • Lang, Jan; Peper, Kim; Fechter, Florian; Martin, Matthias; Fischer, Julian; Micheler, Carina; Wilhelm, Nikolas; Jensen, Elisabeth; Haddadin, Sami; Burgkart, Rainer: Increased activation of the autochthonous back muscles by means of add-on modules for an actuated balance board. World Congress of Biomechanics, 2022 more… BibTeX
  • Mansfeld, Nico; Gómez Peña, Guillermo; Hamad, Mazin; Kurdas, Alexander A.; Abdolshah, Saeed; Haddadin, Sami: Global Safety Characteristics of Wheeled Mobile Robots. IEEE 18th International Conference on Automation Science and Engineering (IEEE CASE2022), 2022 more… BibTeX
  • Moortgat-Pick, Alexander; So, Peter; Sack, Michael J; Cunningham, Emma G; Hughes, Benjamin P; Adamczyk, Anna; Sarabakha, Andriy; Takayama, Leila; Haddadin, Sami: A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Muchacho, Rafael I. Cabral; Laha, Riddhiman; Figueredo, Luis F.C.; Haddadin, Sami: A Solution to Slosh-free Robot Trajectory Optimization. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Ossadnik, Dennis; Yildirim, Mehmet C.; Wu, Fan; Swikir, Abdalla; Kussaba, Hugo T. M.; Abdolshah, Saeed; Haddadin, Sami: BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Peper, Kim K.; Zardykhan, Dinmukhamed; Egger, Marion; Steinböck, Martina; Müller, Friedemann; Hildenbrand, Xavier; Koenig, Alexander; Jensen, Elisabeth R.; Haddadin, Sami: Testing Robot-Based Assist-as-Needed Therapy for Improving Active Participation of a Patient during Early Neurorehabilitation: A Case Study. 2022 International Conference on Rehabilitation Robotics (ICORR), IEEE Press, 2022 more… BibTeX Full text ( DOI )
  • Pozo Fortunić, Edmundo; Swikir, Abdalla; Abdolsah, Saeed; Haddadin, Sami: Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-Emf. The 2022 American Control Conference (ACC), 2022 more… BibTeX
  • Reithmeir, Anna; Figueredo, Luis; Haddadin, Sami: Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Steinecker, Thomas; Kurdas, Alexander; Mansfeld, Nico; Hamad, Mazin; Kirschner, Robin Jeanne; Abdolshah, Saeed; Haddadin, Sami: Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction. 2022 International Conference on Robotics and Automation (ICRA), 2022 more… BibTeX Full text ( DOI )
  • Svarny, Petr; Hamad, Mazin; Kurdas, Alexander; Hoffmann, Matej; Abdolshah, Saeed; Haddadin, Sami: Functional Mode Switching for Safe and Efficient Human-Robot Interaction. 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022 more… BibTeX Full text ( DOI )
  • Valle, Carlos Magno C. O.; Kurdas, Alexander; Fortunić, Edmundo Pozo; Abdolshah, Saeed; Haddadin, Sami: Real-time IMU-Based Learning: a Classification of Contact Materials. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Vorndamme, Jonathan; Carvalho, João; Laha, Riddhiman; Koert, Dorothea; Figueredo, Luis; Peters, Jan; Haddadin, Sami: Integrated Bi-Manual Motion Generation and Control shaped for Probabilistic Movement Primitives. 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022 more… BibTeX Full text ( DOI )
  • Vorndamme, Jonathan; Figueredo, Luis; Haddadin, Sami: Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 more… BibTeX Full text ( DOI )
  • Wilhelm, Nikolas; Karl, Max; Höppner, Hannes; Micheler, Carina; Lang, Jan; Hinterwimmer, Florian; Haddadin, Sami; Burgkart, Rainer; Glowalla, Claudio: Development and Application of a Robotic Testbench for the Investigation of Viscoelastic Parameters of the Human Hand. Joint Annual Conference of the Austrian, German and Swiss Societies for Biomedical Engineering, 2022 more… BibTeX
  • Yildirim, Mehmet C.; Sabaghian, Mohamadreza; Goll, Thore; Kössler, Clemens; Jähne, Christoph; Swikir, Abdalla; Sarabakha, Andriy; Haddadin, Sami: Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result. 2022 International Conference on Robotics and Automation (ICRA), 2022 more… BibTeX Full text ( DOI )

2021

  • Buchmann, Dominik; Ganguly, Amartya; Mombaur, Katja: Video game based kinematic assessment using a Leap Motion Controller. XXVIII Congress of the International Society of Biomechanics (XXVIII), 2021 more… BibTeX
  • 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 more… BibTeX
  • Ganguly, Amartya; Rashidi, Gabriel; Mombaur, Katja: Can Leap Motion Controller replace conventional marker-based motion capture systems ? XXVIII Congress of the International Society of Biomechanics (XXVIII), 2021 more… BibTeX
  • 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( DOI )
  • Kirschner, R. J. , Pedro Jantalia, J., Mansfeld, N., Abdolshah, S., Haddadin, S.: CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems. 2021 International Conference on Robotics and Automation (ICRA 2021), 2021 more… BibTeX
  • Kirschner, R. J., Kurdas, A., Karacan, K., Junge, P., Baradaran Birjandi, A., Mansfeld, N., Abdolshah, Haddadin, S.: Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), 2021 more… BibTeX
  • 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 more… BibTeX Full text ( DOI )
  • Kirschner, Robin Jeanne; Mansfeld, Nico; Abdolshah, Saeed; Haddadin, Sami: Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066. 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021 more… BibTeX
  • 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 more… BibTeX Full text ( 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 more… BibTeX
  • Laha, Riddhiman; Rao, Anjali; Figueredo, Luis FC; Chang, Qing; Haddadin, Sami; Chakraborty, Nilanjan: Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation. International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2021 more… 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 more… BibTeX
  • Ledezma, Fernando Díaz; Haddadin, Sami: RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021 more… BibTeX Full text ( 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 more… 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 more… BibTeX
  • Palleschi, Alessandro; Hamad, Mazin; Abdolshah, Saeed; Garabini, Manolo; Haddadin, Sami; Pallottino, Lucia: Optimal Trajectory Planning with Safety Constraints. I-RIM 2021 Conference, 2021 more… BibTeX
  • Pham, Huy Xuan; Bozcan, Ilker; Sarabakha, Andriy; Haddadin, Sami; Kayacan, Erdal: GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 more… BibTeX Full text ( DOI )
  • 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 more… BibTeX Full text ( DOI )
  • Schimmer, Jonas; Ganguly, Amartya; Mombaur, Katja: Analysing the impact of sensor placement on the quality of sEMG signals on the human forearm. XXVIII Congress of the International Society of Biomechanics (XXVIII), 2021 more… BibTeX
  • Simonić, Mihael; Pahić, Rok; Gašpar, Timotej; Abdolshah, Saeed; Haddadin, Sami; Catalano, Manuel G.; Wörgötter, Florentin; Ude, Aleš: Modular ROS-based software architecture for reconfigurable, Industry 4.0 compatible robotic workcells. 2021 20th International Conference on Advanced Robotics (ICAR), 2021 more… BibTeX Full text ( 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 more… BibTeX
  • Tröbinger, Mario; Costinescu, Andrei; Xing, Hao; Elsner, Jean; Hu, Tingli; Naceri, Abdeldjallil; Figueredo, Luis; Jensen, Elisabeth; Burschka, Darius; Haddadin, Sami: A Dual Doctor-Patient Twin Paradigm for Transparent Remote Examination, Diagnosis, and Rehabilitation. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 more… BibTeX Full text ( DOI )
  • Voigt, Florian; Johannsmeier, Lars; Haddadin, Sami: Multi-Level Structure vs. End-to-End-Learning in High-Performance Tactile Robotic Manipulation. Proceedings of the 2020 Conference on Robot Learning (Proceedings of Machine Learning Research), PMLR, 2021 more… BibTeX
  • 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 more… BibTeX

2020

  • Aljalbout, Elie; Chen, Ji; Ritt, Konstantin; Ulmer, Maximilian; Haddadin, Sami: Learning Vision-based Reactive Policies for Obstacle Avoidance. Conference on Robot Learning, 2020 more… BibTeX
  • 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 more… BibTeX Full text ( 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 more… 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX
  • 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 more… BibTeX Full text ( 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 more… 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 more… BibTeX Full text ( DOI )
  • Rao, Nirnai; Aljalbout, Elie; Sauer, Axel; Haddadin, Sami: How to Make Deep RL Work in Practice. NeurIPS 2020, 2020 more… BibTeX
  • 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 more… 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… 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 more… 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 more… 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 more… 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 more… 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 more… 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 (Ed.): 6. Ambient Medicinei̧rcledR Forum \glqqAssistive Technik für selbstbestimmtes Wohnen\grqq (Band 6). Cuvillier Verlag, 2019, 97--101 more… 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 more… 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 more… BibTeX
  • Sauer, Axel; Aljalbout, Elie; Haddadin, Sami: Tracking Holistic Object Representations. British Machine Vision Conference (BMVC), 2019 more… BibTeX
  • Schappler, Moritz; Lilge, Torsten; Haddadin, Sami: Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints. IFToMM World Congress, 2019 more… BibTeX Full text ( 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 more… 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 more… 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 more… 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 more… BibTeX
  • Haddadin, Sami; Johannsmeier, Lars: The Art of Manipulation: Learning to Manipulate Blindly. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 more… 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 more… 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 (Ed.): Robotics in Education. Springer International Publishing, 2018, 3--17 more… BibTeX Full text ( 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 more… 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 more… BibTeX Full text ( DOI )
  • 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 more… 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 more… 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 more… BibTeX
  • 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 more… 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 more… 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 more… BibTeX
  • 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 more… 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 more… 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 more… 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 more… BibTeX Full text ( DOI )
  • Tomic, Teodor; Haddadin, Sami: Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms. International Symposium on Robotics Research (ISRR2017), 2017 more… BibTeX
  • 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 more… 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 more… BibTeX
  • Vorndamme, J.; Schappler, M.; Haddadin, S.: Collision detection, isolation and identification for humanoids. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017 more… BibTeX Full text ( DOI )

2016

  • 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 more… 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 more… 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 more… BibTeX Full text ( 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 more… 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( DOI )
  • Golz, Saskia; Osendorfer, Christian; Haddadin, Sami: Learning to discriminate interaction and collisions. Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015 more… 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 more… BibTeX Full text ( 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 more… BibTeX
  • Johannsmeier, Lars; Haddadin, Sami: A framework for task allocation in collaborative industrial assembly processes. 8th International Workshop on Human-Friendly Robotics, 2015 more… BibTeX
  • Kühn, Johannes; Haddadin, Sami: The Robot Nervous System RNS: Teaching Robots to Feel Pain. To be submitted, 2015 more… BibTeX
  • K̈uhn, Johannes; Haddadin, Sami: Pain Reflexes For Robots To Evade Noxious Contact Events. 8th International Workshop on Human-Friendly Robotics, 2015 more… BibTeX
  • Mansfeld, Nico; Haddadin, Sami: A comparison of braking strategies for elastic joint robots. Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( DOI )
  • Tödtheide, Alexander; Lilge, Torsten; Haddadin, Sami: Compliant Interaction with an Antagonistic Pneumatically Controlled Robot Joint. 8th International Workshop on Human-Friendly Robotics, 2015 more… BibTeX
  • Vorndamme, Jonathan; Schappler, Moritz; T̈odtheide, Alexander; Haddadin, Sami: Collision Detection with a Hydraulically Actuated Robot Arm. 8th International Workshop on Human-Friendly Robotics, 2015 more… BibTeX

2014

  • Haddadin, Sami: Dynamic and Safe Motion Planning for Human Environments. IROS 2014 Workshop: Real-time Motion Generation & Control – Constraint-based Robot Programming, 2014 more… BibTeX
  • 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( DOI )
  • Mansfeld, Nico; Özparpucu, Can Mehmet; Haddadin, Sami: Braking elastic joint robots in near-minimum time. 7th International Workshop on Human-Friendly Robotics, 2014 more… 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( DOI )
  • ̈Ozparpucu, Can Mehmet; Haddadin, Sami: Optimal control of elastic joints with variable damping. Control Conference (ECC), 2014 European, 2014 more… BibTeX Full text ( DOI )
  • ̈Ozparpucu, Can Mehmet; Haddadin, Sami; Albu-Schäffer, Alin: Optimal Control of Variable Stiffness Actuators with Nonlinear Springs. 19th IFAC World Congress, 2014 more… BibTeX Full text ( 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 more… BibTeX Full text ( DOI )
  • Haddadin, Sami; Mansfeld, Nico: Human Injury Analysis in Robotics: An Overview. International Conference on Intelligent Robots and Systems (IROS), Workshop, 2013 more… 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 (Ed.): Computer Safety, Reliability, and Security (SAFECOMP 2013). Springer Berlin Heidelberg, 2013, 202--215 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… 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 more… BibTeX Full text ( 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 more… BibTeX

2011

  • 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Soft-tissue injury in robotics. Robotics and Automation (ICRA), 2010 IEEE International Conference on, 2010 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX

2008

  • 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 more… BibTeX Full text ( 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 more… 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 more… BibTeX Full text ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Safety in Human-Robot Interaction. Robotics Science and Systems Conference (RSS), Workshop, 2008 more… 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 more… BibTeX Full text ( 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 more… BibTeX Full text ( 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 more… BibTeX

2007

  • 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 more… BibTeX Full text ( 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 more… BibTeX
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Approaching Asimov's 1st Law (Video). International Conference on Human-Robot Interaction (HRI2007), 2007 more… BibTeX Full text ( DOI )
  • Haddadin, Sami; Albu-Schäffer, Alin; Hirzinger, Gerd: Safe physical human-robot interaction: measurements, analysis & new insights. International symposium on robotics research (ISRR2007), 2007 more… 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 more… 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 more… 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 more… BibTeX Full text ( DOI )

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 more… BibTeX Full text ( DOI )
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