Dynamics and System Modeling
Modeling and identification of intricate dynamics of complex mechanical and biomechanical systems for a variety of applications is at the core of understanding and building complex machines. They are central to any sophisticated control and learning algorithm for embodied AI systems such as industrial or service robots, drones, autonomous cars or prostheses as well as their digital twins.
Contributions
In our group, one particular interest is designing actuators and robot systems. Particularly, we developed new tactile actuator models [2, 3], and soft robot manipulators and mobile robots [5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16] to modular dynamics of tree like structures [17] such as humanoids [18, 19] or modern representations of dynamics [20, 21, 22, 23, 24] and contacts [25, 26, 27, 28, 29, 30, 31, 32]. We were able to achieve the accurate model identification not only for the UAV [33, 34, 35], manipulators [36, 37, 38], prostheses [40, 41] or humanoid systems themselves [31], but also for efficient online end-effector and payload identification [43, 44, 45]. In addition, we developed templates that accurately describe highly nonlinear systems with oscillatory effects for studying orbiting and explosive motions [46, 47, 48, 49]. In [50, 51], we developed a unified legged locomotion template model that encompasses all of the major loco-motor sub-functions and analyzed the impact of nonlinear joint elasticity on orbiting [52, 53]. Moreover, we always fully try understand to human biomechanics and aim to develop appropriate models of human dynamics. This starts at the musculoskeletal level and gradually extending to integrate multi-physics, multi-domain aspects of the neuromusculoskeletal system and motor control [61, 62, 63]. The ultimate goal is a fully integrated model of all relevant subsystems of the neuromusculoskeletal and cardiovascular systems. For example, the current shoulder-arm system is composed of 12 joints, 27 muscles, and anatomically consistent scapulothoracic sliding plane [64]. The hand model with palm arc consists of 26 joints and 47 intrinsic and extrinsic musculotendon routiwng paths [65, 66, 67]. The lower limb models [68] are designed with particular focus on usage in rehabilitation scenarios for early mobilization. All models show unmatched accuracy in terms of kinematics, dynamics and anatomical consistency in experimental and comparison against literature.
[2] Alexander Toedtheide, Johannes Kühn, Edmundo Pozo Fortunic, and Sami Haddadin. “An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control”. In: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids). 2021, pp. 25–32.
[3] Alexander Toedtheide, Edmundo Pozo Fortunic, Johannes Kuehn, Elisabeth Rose Jensen, ´ and Sami Haddadin. “A Wearable Force-Sensitive and Body-Aware Exoprosthesis for a Transhumeral Prosthesis Socket”. In: accepted at: IEEE Transactions on Robotics (2023).
[5] Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, and Gerd Hirzinger. “The DLR lightweight robot: design and control concepts for robots in human environments”. In: Industrial Robot: An International Journal 34.5 (2007), pp. 376–385.
[6] A. Albu-Schäffer, O. Eiberger, M. Fuchs, M. Grebenstein, S. Haddadin, C. Ott, A. Stemmer, T. Wimböck, S. Wolf, and G. Hirzinger. “Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance”. In: International Symposium on Robotics Research (ISRR2009), Lucerne, Switzerland. 2009.
[7] Alin Albu-Schäffer, Sebastian Wolf, Oliver Eiberger, Sami Haddadin, Florian Petit, and Maxime Chalon. “Dynamic modelling and control of variable stiffness actuators”. In: Robotics and Automation (ICRA), 2010 IEEE International Conference on. IEEE. 2010, pp. 2155–2162.
[8] Alexander Toedtheide, Torsten Lilge, and Sami Haddadin. “Antagonistic Impedance Control for Pneumatically Actuated Robot Joints”. In: Robotics and Automation Letters, IEEE 1.1 (Jan. 2016), pp. 161–168.
[9] Sami Haddadin, Mehmet Can Özparpucu, and Alin Albu-Schäffer. “Optimal control for maximizing potential energy in a variable stiffness joint”. In: IEEE Conference on Decision and Control (CDC). 2012, pp. 1199–1206.
[10] Markus Grebenstein, Alin Albu-Schäffer, Thomas Bahls, Maxime Chalon, Oliver Eiberger, Werner Friedl, Robin Gruber, Sami Haddadin, Ulrich Hagn, Robert Haslinger, Hannes Höppner, Stefan Jörg, Mathias Nickl, Alexander Nothelfer, Florian Petit, Josef Reill, Nikolaus Seitz, Thomas Wimböck, Sebastian Wolf, Tilo Wüsthoff, and Gerd Hirzinger. “The DLR hand arm system”. In: IEEE International Conference on Robotics and Automation (ICRA). 2011, pp. 3175–3182.
[11] Sami Haddadin, Nico Mansfeld, and Alin Albu-Schäffer. “Rigid vs. elastic actuation: Requirements & performance”. In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. IEEE. 2012, pp. 5097–5104.
[12] Markus Grebenstein, Maxime Chalon, Werner Friedl, Sami Haddadin, Thomas Wimböck, Gerd Hirzinger, and Roland Siegwart. “The hand of the DLR Hand Arm System: Designed for interaction”. In: The International Journal of Robotics Research 31.13 (2012), pp. 1531–1555.
[13] Dennis Ossadnik, Mehmet C Yildirim, Fan Wu, Abdalla Swikir, Hugo TM Kussaba, Saeed Abdolshah, and Sami Haddadin. “BSA-Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots”. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. 2022, pp. 3536–3543.
[14] Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah, and Sami Haddadin. “BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots”. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022, pp. 3536–3543.
[15] Mehmet C. Yildirim, Mohamadreza Sabaghian, Thore Goll, Clemens Kössler, Christoph Jähne, Abdalla Swikir, Andriy Sarabakha, and Sami Haddadin. “Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result”. In: 2022 International Conference on Robotics and Automation (ICRA). 2022, pp. 5769–5775.
[16] O. Eiberger, S. Haddadin, M. Weis, A. Albu-Schäffer, and G. Hirzinger. “On Joint Design with Intrinsic Variable Compliance: Derivation of the DLR QA-Joint”. In: IEEE International Conference on Robotics and Automation (ICRA) (2010), pp. 1687–1694.
[17] Mazin Hamad, Alexander Andreas Kurdas, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin. “Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Pre-Collision Control Framework for Floating-base Tree-like Robots”. In: accepted at: IEEE Transactions on Robotics (2023).
[18] Moritz Schappler, Jonathan Vorndamme, Alexander Tödtheide, David Conner, Oskar von Stryk, and Sami Haddadin. “Modeling, Identification and Impedance Control of the Atlas Arms”. In: Humanoid Robots, 15th IEEE-RAS International Conference on. Nov. 2015.
[19] Mario Tröbinger, Christoph Jähne, Zheng Qu, Jean Elsner, Anton Reindl, Sebastian Getz, Thore Goll, Benjamin Loinger, Tamara Loibl, Christoph Kugler, Carles Calafell, Mohamadreza Sabaghian, Tobias Ende, Daniel Wahrmann, Sven Parusel, Simon Haddadin, and Sami Haddadin. “Introducing GARMI - A Service Robotics Platform to Support the Elderly at Home: Design Philosophy, System Overview and First Results”. In: IEEE Robotics and Automation Letters 6.3 (2021), pp. 5857–5864.
[20] Fernando Diaz Ledezma and Sami Haddadin. “First-Order-Principles-Based Constructive Network Topologies: An Application to Robot Inverse Dynamics”. In: IEEE RAS International Conference on Humanoid Robots. Birmingham, UK, Nov. 2017.
[21] Fernando Díaz Ledezma and Sami Haddadin. “FOP Networks for Learning Humanoid Body Schema and Dynamics”. In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). 2018, pp. 1–9.
[22] Fernando Díaz Ledezma and Sami Haddadin. “RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema”. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). 2021, pp. 9354–9360.
[23] Robin Jeanne Kirschner, Nico Mansfeld, Guillermo Gómez Peña, Saeed Abdolshah, and Sami Haddadin. “Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066”. In: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR). 2021, pp. 6–9.
[24] Mazin Hamad, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin. “The Role of Robot Payload in the Safety Map Framework”. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2019, pp. 195–200.
[25] Sami Haddadin, Tim Laue, Udo Frese, and Gerd Hirzinger. “Foul 2050: Thoughts on physical interaction in human-robot soccer”. In: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on. IEEE. 2007, pp. 3243–3250.
[26] Sami Haddadin, Alin Albu-Schäffer, Oliver Eiberger, and Gerd Hirzinger. “New insights concerning intrinsic joint elasticity for safety”. In: Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on. IEEE. 2010, pp. 2181–2187.
[27] Jung-Jun Park, Sami Haddadin, Jae-Bok Song, and A Albu-Schäffer. “Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions”. In: Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE. 2011, pp. 5413–5420.
[28] Sami Haddadin, Haddadin Simon, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, and Alin Albu-Schäffer. “A truly safely moving robot has to know what injury it may cause”. In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. IEEE. 2012, pp. 5406–5413.
[29] Sami Haddadin, Kai Krieger, Nico Mansfeld, and Alin Albu-Schäffer. “On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level”. In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. IEEE. 2012, pp. 5089–5096.
[30] Jonathan Vorndamme, Moritz Schappler, Alexander Tödtheide, and Sami Haddadin. “Soft Robotics for the Hydraulic Atlas Arms: Joint Impedance Control with Collision Detection and Disturbance Compensation”. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers (IEEE), Oct. 2016.
[31] Jonathan Vorndamme, Moritz Schappler, and Sami Haddadin. “Collision detection, isolation and identification for humanoids”. In: 2017 IEEE International Conference on Robotics and Automation (ICRA). May 2017, pp. 4754–4761.
[32] Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin. “Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066”. In: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR). 2021, pp. 1–5.
[33] Felix Huber, Konstantin Kondak, Kai Krieger, Dominik Sommer, Marc Schwarzbach, Maximilian Laiacker, Ingo Kossyk, Sven Parusel, Sami Haddadin, and Alin Albu-Schäffer. “First analysis and experiments in aerial manipulation using fully actuated redundant robot arm”. In: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. IEEE. 2013, pp. 3452–3457.
[34] Teodor Tomic and Sami Haddadin. “Simultaneous estimation of aerodynamic and contact forces in flying robots: Applications to metric wind estimation and collision detection”. In: Robotics and Automation (ICRA), 2015 IEEE International Conference on. May 2015, pp. 5290–5296.
[35] Teodor Tomic, Christian Ott, and Sami Haddadin. “External wrench estimation, collision detection, and reflex reaction for flying robots”. In: IEEE Transactions on Robotics 33.6 (2017), pp. 1467–1482.
[36] A. Albu-Schäffer, S. Wolf, O. Eiberger, S. Haddadin, F. Petit, and M. Chalon. “Dynamic Modeling and Control of Variable Stiffness Actuators”. In: IEEE International Conference on Robotics and Automation (ICRA). 2010, pp. 2155–2162.
[37] A. Albu-Schäffer, S. Haddadin, C. Ott, A. Stemmer, T. Wimböck, and G. Hirzinger. “The DLR Lightweight Robot - Lightweight Design and Soft Robotics Control Concepts for Robots in Human Environments”. In: Industrial Robot Journal 34.5 (2007), pp. 376–385.
[38] Sami Haddadin, Sven Parusel, Lars Johannsmeier, Saskia Golz, Simon Gabl, Florian Walch, Mohamadreza Sabaghian, Christoph Jähne, Lukas Hausperger, and Simon Haddadin. “The Franka Emika Robot: A Reference Platform for Robotics Research and Education”. In: IEEE Robotics & Automation Magazine 29.2 (2022), pp. 46–64.
[40] David J Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick Van Der Smagt, Alin AlbuSchäffer, and Sethu Vijayakumar. “Optimal torque and stiffness control in compliantly actuated robots”. In: Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. IEEE. 2012, pp. 2801–2808.
[41] Alexander Toedtheide and Sami Haddadin. “CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists”. In: IEEE Robotics and Automation Letters 3.4 (2018), pp. 3537–3544.
[43] Johannes Kuhn, Johannes Ringwald, Moritz Schappler, Lars Johannsmeier, and Sami Haddadin. “Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype”. In: 2019 International Conference on Robotics and Automation (ICRA). 2019, pp. 9180–9186.
[44] Alexander Kurdas, Mazin Hamad, Jonathan Vorndamme, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin. “Online Payload Identification for Tactile Robots Using the Momentum Observer”. In: 2022 International Conference on Robotics and Automation (ICRA). 2022.
[45] Seyed Ali Baradaran Birjandi, Niels Dehio, Abderrahmane Kheddar, and Sami Haddadin. “Robust Cartesian Kinematics Estimation for Task-Space Control Systems”. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022, pp. 3512–3519.
[48] Sami Haddadin, Michael Weis, Sebastian Wolf, and Alin Albu-Schäffer. “Optimal control for maximizing link velocity of robotic variable stiffness joints”. In: Proceedings of the 18th IFAC World Congress, 2011. Vol. 18. Milan, Italy, 2011, pp. 6863–6871.
[49] Sami Haddadin, Kai Krieger, Mirko Kunze, and Alin Albu-Schäffer. “Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot”. In: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on. Sept. 2011, pp. 1789–1796.
[50] Dennis Ossadnik, Elisabeth Jensen, and Sami Haddadin. “ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk”. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE. 2021, pp. 3040–3046.
[51] Dennis Ossadnik, Elisabeth Jensen, and Sami Haddadin. “Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk”. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE. 2021, pp. 3047–3053.
[52] Dennis Ossadnik, Elisabeth Jensen, and Sami Haddadin. “Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk”. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). 2021, pp. 3047–3053.
[53] Dennis Ossadnik, Elisabeth Jensen, and Sami Haddadin. “ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk”. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). 2021, pp. 3040–3046.
[61] Jumana Ma’touq, Tingli Hu, and Sami Haddadin. “Sub-millimetre accurate human hand kinematics: from surface to skeleton”. In: Computer Methods in Biomechanics and Biomedical Engineering 21.2 (2018). PMID: 29374973, pp. 113–128.
[62] Jumana Ma’touq, Tingli Hu, and Sami Haddadin. “A validated combined musculotendon path and muscle-joint kinematics model for the human hand”. In: Computer Methods in Biomechanics and Biomedical Engineering 22.7 (2019). PMID: 30880463, pp. 727–739.
[63] Tingli Hu, Johannes Kühn, and Sami Haddadin. “Forward and inverse dynamics modeling of human shoulder-arm musculoskeletal system with scapulothoracic constraint”. In: Computer Methods in Biomechanics and Biomedical Engineering 23.11 (2020). PMID: 32552013, pp. 785–803.
[64] Tingli Hu, Johannes Kühn, and Sami Haddadin. “Forward and inverse dynamics modeling of human shoulder-arm musculoskeletal system with scapulothoracic constraint”. In: Computer Methods in Biomechanics and Biomedical Engineering 23.11 (2020), pp. 785–803.
[68] Kim K. Peper, Dinmukhamed Zardykhan, Marion Egger, Martina Steinböck, Friedemann Müller, Xavier Hildenbrand, Alexander Koenig, Elisabeth R. Jensen, and Sami Haddadin. “Testing RobotBased Assist-as-Needed Therapy for Improving Active Participation of a Patient during Early Neurorehabilitation: A Case Study”. In: 2022 International Conference on Rehabilitation Robotics (ICORR). Rotterdam, Netherlands: IEEE Press, 2022, pp. 1–6.