Jörn Malzahn

38 papers A* 7A 5Journal 11Unranked 15
YearRankTypeTitle / Venue / Authors
2023 — conf
An Optimization Study on Modular Reconfigurable Robots: Finding the Task-Optimal Design.
CASE
Edoardo Romiti, Francesco Iacobelli, Marco Ruzzon, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis
2022 — conf
An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments.
Humanoids
Maolin Lei, Liang Lu, Arturo Laurenzi, Luca Rossini, Edoardo Romiti, Jörn Malzahn, Nikos G. Tsagarakis
2021 — conf
A Compliant Mechanism with Progressive Stiffness for Robotic Actuation.
AIM
Eamon Barrett, Jörn Malzahn, Nikos G. Tsagarakis
2021 J jnl
Blending of Series-Parallel Compliant Actuation With Field Weakening Control for Explosive Motion Generation.
IEEE Robotics Autom. Lett.
Vishnu Dev Amara, Jörn Malzahn, Wesley Roozing, Nikolaos G. Tsagarakis
2021 A* conf
Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots.
ICRA
Edoardo Romiti, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis
2020 A* conf
On the efficient control of series-parallel compliant articulated robots.
ICRA
Vishnu Dev Amara, Jörn Malzahn, Zeyu Ren, Wesley Roozing, Nikos G. Tsagarakis
2019 A* conf
A Rolling Flexure Mechanism for Progressive Stiffness Actuators.
ICRA
Jörn Malzahn, Eamon Barrett, Nikos G. Tsagarakis
2019 J jnl
CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform.
IEEE Robotics Autom. Lett.
Navvab Kashiri, Lorenzo Baccelliere, Luca Muratore, Arturo Laurenzi, Zeyu Ren, Enrico Mingo Hoffman, Malgorzata Kamedula, Giuseppe Francesco Rigano, Jörn Malzahn, Stefano Cordasco, Paolo Guria, Alessio Margan, Nikos G. Tsagarakis
2019 J jnl
Editorial: Advances in Mechatronics and Biomechanics Towards Efficient Robot Actuation.
Frontiers Robotics AI
Jörn Malzahn, Navvab Kashiri, Monica A. Daley, Nikolaos G. Tsagarakis
2019 — conf
Exploiting Controllability for Vibration Damping in Multiple Planes of Link-Elastic Robot Arms.
ICM
Freia Irina Muster, Jörn Malzahn, Torsten Bertram
2019 J jnl
The Compliant Joint Toolbox for MATLAB: An Introduction With Examples.
IEEE Robotics Autom. Mag.
Jörn Malzahn, Wesley Roozing, Nikos G. Tsagarakis
2018 J jnl
An Overview on Principles for Energy Efficient Robot Locomotion.
Frontiers Robotics AI
Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schäffer, Patrick Clary, Monica A. Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan W. Hurst, Jörn Malzahn, Glenn Mathijssen, C. David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae-Bok Song, Nils Smit-Anseeuw, Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikolaos G. Tsagarakis
2018 A* conf
Continuously Controllable Series Clutches for Efficient Robot Actuation.
ICRA
Jörn Malzahn, Vishnu Dev Amara, Nikolaos G. Tsagarakis
2018 J jnl
On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots.
IEEE Trans. Robotics
Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff
2017 — conf
A two-staged residual for resilient external torque estimation with series elastic actuators.
Humanoids
Chan Lee, Jinoh Lee, Jörn Malzahn, Nikolaos G. Tsagarakis, Sehoon Oh
2017 — conf
An online interactive method for guided calibration of multi-dimensional force/torque transducers.
Humanoids
Francesco Cursi, Jörn Malzahn, Nikolaos G. Tsagarakis, Darwin G. Caldwell
2017 A* conf
Combined inverse-dynamics/passivity-based control for robots with elastic joints.
ICRA
Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff
2017 — conf
Controllability and accessibility of vibrations in multiple planes on link-elastic robot arms.
ROBIO
Freia Irina John, Jörn Malzahn, Torsten Bertram
2017 A conf
Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks.
IROS
Lorenzo Baccelliere, Navvab Kashiri, Luca Muratore, Arturo Laurenzi, Malgorzata Kamedula, Alessio Margan, Stefano Cordasco, Jörn Malzahn, Nikos G. Tsagarakis
2017 — conf
FloBaRoID - A Software Package for the Identification of Robot Dynamics Parameters.
RAAD
Stefan Bethge, Jörn Malzahn, Nikolaos G. Tsagarakis, Darwin G. Caldwell
2017 J jnl
On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder-Based Principles.
IEEE Robotics Autom. Lett.
Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis
2017 J jnl
On the Stiffness Selection for Torque-Controlled Series-Elastic Actuators.
IEEE Robotics Autom. Lett.
Wesley Roozing, Jörn Malzahn, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
2017 J jnl
WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments.
J. Field Robotics
Nikolaos G. Tsagarakis, Darwin G. Caldwell, Francesca Negrello, Wooseok Choi, Lorenzo Baccelliere, Vo-Gia Loc, J. Noorden, Luca Muratore, Alessio Margan, Alberto Cardellino, Lorenzo Natale, Enrico Mingo Hoffman, Houman Dallali, Navvab Kashiri, Jörn Malzahn, Jinoh Lee, Przemyslaw Kryczka, Dimitrios Kanoulas, Manolo Garabini, Manuel G. Catalano, Mirko Ferrati, Valerio Varricchio, Lucia Pallottino, Corrado Pavan, Antonio Bicchi, Alessandro Settimi, Alessio Rocchi, Arash Ajoudani
2017 A conf
What is the torque bandwidth of this actuator?
IROS
Jörn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos G. Tsagarakis, Darwin G. Caldwell
2016 A conf
Comparison of open-loop and closed-loop disturbance observers for series elastic actuators.
IROS
Wesley Roozing, Jörn Malzahn, Darwin G. Caldwell, Nikos G. Tsagarakis
2016 J jnl
On the Equivalence of Direct Strain Feedback and Lumped Parameter Wave Echo Control for Oscillation Damping of Elastic-Link Arms.
IEEE Robotics Autom. Lett.
Jörn Malzahn, Torsten Bertram
2015 — conf
A modular compliant actuator for emerging high performance and fall-resilient humanoids.
Humanoids
Francesca Negrello, Manolo Garabini, Manuel G. Catalano, Jörn Malzahn, Darwin G. Caldwell, Antonio Bicchi, Nikolaos G. Tsagarakis
2015 A conf
Link elasticity exploited for payload estimation and force control.
IROS
Jörn Malzahn, Russell Schloss, Torsten Bertram
2014 A* conf
Dynamics identification of a damped multi elastic link robot arm under gravity.
ICRA
Jörn Malzahn, René Felix Reinhart, Torsten Bertram
2012 — conf
A Multi-Link-Flexible Robot Arm Catching Thrown Balls.
ROBOTIK
Jörn Malzahn, Anh Son Phung, Torsten Bertram
2012 J jnl
Bildbasierte Regelung eines gliedelastischen Roboterarms mit einem RGB-D-Sensor.
Autom.
Jörn Malzahn, Anh Son Phung, Frank Hoffmann, Torsten Bertram
2012 — conf
Predictive Delay Compensation for Camera Based Oscillation Damping of a Multi Link Flexible Robot.
ICIRA (3)
Jörn Malzahn, Anh Son Phung, Torsten Bertram
2012 A conf
Scene adaptive RGB-D based oscillation sensing for a multi flexible link robot arm in unstructured dynamic environments.
IROS
Jörn Malzahn, Anh Son Phung, Torsten Bertram
2012 — conf
Tool centered learning from demonstration for robotic arms with visual feedback.
ROBIO
Anh Son Phung, Jörn Malzahn, Frank Hoffmann, Torsten Bertram
2011 — conf
Data based kinematic model of a multi-flexible-link robot arm for varying payloads.
ROBIO
Anh Son Phung, Jörn Malzahn, Frank Hoffmann, Torsten Bertram
2011 — conf
Vibration control of a multi-flexible-link robot arm under gravity.
ROBIO
Jörn Malzahn, Anh Son Phung, Frank Hoffmann, Torsten Bertram
2010 — conf
Markerless Visual Vibration Damping of a 3-DOF Flexible Link Robot Arm.
ISR/ROBOTIK
Jörn Malzahn, Anh Son Phung, Rene Franke, Frank Hoffmann, Torsten Bertram
2009 A* conf
Vibration control of a multi-link flexible robot arm with Fiber-Bragg-Grating sensors.
ICRA
Rene Franke, Jörn Malzahn, Thomas Nierobisch, Frank Hoffmann, Torsten Bertram