Sami Haddadin

413 papers A* 77A 91B 3C 10Misc 3Journal 165Unranked 62
YearRankTypeTitle / Venue / Authors
2026 — conf
A Complementary Approach for Robust and Safety-Oriented Visual Tracking via Near-Infrared and RGB-D Cameras for Safe Physical Human-Robot Interaction.
SII
Mazin Hamad, Kangwagye Samuel, Valentin Le Mesle, Rafael Mosberger, Achim J. Lilienthal, Sami Haddadin
2026 — conf
ANSI/RIA R15.08-1/2 and ANSI/A3 R15.08-2 Compliant Safety-Oriented Software Components for Industrial Mobile Robots.
SII
Kangwagye Samuel, Mazin Hamad, Alessandro De Toni, Vasilije Rakcevic, Valentin Le Mesle, Achim J. Lilienthal, Sami Haddadin
2026 J jnl
Bridging the Sim-to-Real Gap with multipanda ros2: A Real-Time ROS2 Framework for Multimanual Systems.
CoRR
Jon Skerlj, Seongjin Bien, Abdeldjallil Naceri, Sami Haddadin
2026 J jnl
Energy-Based Injury Protection Database: Including Shearing Contact Thresholds for Hand and Finger Using Porcine Surrogates.
CoRR
Robin Jeanne Kirschner, Anna Huber, Carina M. Micheler, Dirk Müller, Nader Rajaei, Rainer Burgkart, Sami Haddadin
2026 J jnl
Just in time Informed Trees: Manipulability-Aware Asymptotically Optimized Motion Planning.
CoRR
Kuanqi Cai, Liding Zhang, Xinwen Su, Kejia Chen, Chaoqun Wang, Sami Haddadin, Alois Knoll, Arash Ajoudani, Luis F. C. Figueredo
2026 A* conf
Path-Constrained Haptic Motion Guidance via Adaptive Phase-Based Admittance Control (Abstract Reprint).
AAAI
Erfan Shahriari, Petr Svarný, Seyed Ali Baradaran Birjandi, Matej Hoffmann, Sami Haddadin
2026 A* conf
Streaming Generated Gaussian Process Experts for Online Learning and Control.
AAAI
Zewen Yang, Dongfa Zhang, Xiaobing Dai, Fengyi Yu, Chi Zhang, Bingkun Huang, Hamid Sadeghian, Sami Haddadin
2025 A conf
A Whole-Body Unified Force-Impedance Control for Non-holonomic Service Robots.
IROS
Moein Forouhar, Hamid Sadeghian, Abdeldjallil Naceri, Alexander König, Sami Haddadin
2025 J jnl
APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors.
CoRR
Liding Zhang, Sicheng Wang, Kuanqi Cai, Zhenshan Bing, Fan Wu, Chaoqun Wang, Sami Haddadin, Alois Knoll
2025 J jnl
APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors.
IEEE Robotics Autom. Lett.
Liding Zhang, Sicheng Wang, Kuanqi Cai, Zhenshan Bing, Fan Wu, Chaoqun Wang, Sami Haddadin, Alois Knoll
2025 J jnl
Accelerating Discovery in Natural Science Laboratories with AI and Robotics: Perspectives and Challenges from the 2024 IEEE ICRA Workshop, Yokohama, Japan.
CoRR
Andrew I. Cooper, Patrick Courtney, Kourosh Darvish, Moritz Eckhoff, Hatem Fakhruldeen, Andrea Gabrielli, Animesh Garg, Sami Haddadin, Kanako Harada, Jason Hein, Maria Hübner, Dennis Knobbe, Gabriella Pizzuto, Florian Shkurti, Ruja Shrestha, Kerstin Thurow, Rafael Vescovi, Birgit Vogel-Heuser, Ádám Wolf, Naruki Yoshikawa, Yan Zeng, Zhengxue Zhou, Henning Zwirnmann
2025 J jnl
Accelerating discovery in natural science laboratories with AI and robotics: Perspectives and challenges.
Sci. Robotics
Andrew I. Cooper, Patrick Courtney, Kourosh Darvish, Moritz Eckhoff, Hatem Fakhruldeen, Andrea Gabrielli, Animesh Garg, Sami Haddadin, Kanako Harada, Jason Hein, Maria Hübner, Dennis Knobbe, Gabriella Pizzuto, Florian Shkurti, Ruja Shrestha, Kerstin Thurow, Rafael Vescovi, Birgit Vogel-Heuser, Ádám Wolf, Naruki Yoshikawa, Yan Zeng, Zhengxue Zhou, Henning Zwirnmann
2025 A conf
Braking Control in Clutched-Elastic Robots: Coordinating the Underactuation-to-Actuation Transition.
IROS
Vasilije Rakcevic, Dennis Ossadnik, Edmundo Pozo Fortunic, Mehmet Can Yildirim, Valentin Le Mesle, Sami Haddadin
2025 A conf
CIT: Context-Based Biased Batch-Sampling for Almost-Surely Asymptotically Optimal Motion Planning.
IROS
Liding Zhang, Yankun Wei, Kuanqi Cai, Zhenshan Bing, Yuan Meng, Fan Wu, Sami Haddadin, Alois Knoll
2025 J jnl
Categorizing robots by performance fitness into the tree of robots.
Nat. Mac. Intell.
Robin Jeanne Kirschner, Kübra Karacan, Alessandro Melone, Sami Haddadin
2025 J jnl
Constraint-Consistent Control of Task-Based and Kinematic RCM Constraints for Surgical Robots.
CoRR
Yu Li, Hamid Sadeghian, Zewen Yang, Valentin Le Mesle, Sami Haddadin
2025 A conf
Design Optimization of a Single-DoF Gait Rehabilitation Robot for a Domestic Environment.
IROS
Julius Ambros, Valentin Le Mesle, Laura Tissari, Hendrik Börner, Helfried Peyrl, Tim C. Lüth, Sami Haddadin
2025 A* conf
Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic.
ICRA
Liding Zhang, Kejia Chen, Kuanqi Cai, Yu Zhang, Yixuan Dang, Yansong Wu, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll
2025 J jnl
Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic.
CoRR
Liding Zhang, Kejia Chen, Kuanqi Cai, Yu Zhang, Yixuan Dang, Yansong Wu, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll
2025 A* conf
Dynamic End Effector Trajectory Tracking for Small-Scale Underwater Vehicle-Manipulator Systems (UVMS): Modeling, Control, and Experimental Validation.
ICRA
Niklas Trekel, Nathalie Bauschmann, Thies L. Alff, Daniel A Duecker, Sami Haddadin, Robert Seifried
2025 J jnl
Elliptical K-Nearest Neighbors - Path Optimization via Coulomb's Law and Invalid Vertices in C-space Obstacles.
CoRR
Liding Zhang, Zhenshan Bing, Yu Zhang, Kuanqi Cai, Lingyun Chen, Fan Wu, Sami Haddadin, Alois Knoll
2025 A conf
Enhanced Robotic Navigation in Deformable Environments using Learning from Demonstration and Dynamic Modulation.
IROS
Lingyun Chen, Xinrui Zhao, Marcos P. S. Campanha, Alexander Wegener, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin
2025 J jnl
Enhanced Robotic Navigation in Deformable Environments using Learning from Demonstration and Dynamic Modulation.
CoRR
Lingyun Chen, Xinrui Zhao, Marcos P. S. Campanha, Alexander Wegener, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin
2025 A* conf
Enhancing Robotic Perception with Low-Cost Fast Active Vision Achieving Sub-Millimeter Accurate Marker-Based Pose Estimation.
ICRA
Dennis Knobbe, Johann J. W. Standke, Sami Haddadin
2025 J jnl
Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler.
CoRR
Liding Zhang, Kuanqi Cai, Yu Zhang, Zhenshan Bing, Chaoqun Wang, Fan Wu, Sami Haddadin, Alois Knoll
2025 J jnl
Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler.
IEEE Trans Autom. Sci. Eng.
Liding Zhang, Kuanqi Cai, Yu Zhang, Zhenshan Bing, Chaoqun Wang, Fan Wu, Sami Haddadin, Alois Knoll
2025 A* conf
Evaluating Human-Robot Skill Gaps in Electrical Circuit Inspection: A New Electronic Task Board for Benchmarking Manipulation.
ICRA
Peter So, Abdalla Swikir, Fares J. Abu-Dakka, Sami Haddadin
2025 A conf
Frozen Triumph: Lessons from GARMI's Bimanual Trophy Handover at the Kandahar Ski World Cup - Shaping Current Research Directions.
IROS
Mario Tröbinger, Abdeldjallil Naceri, Hamid Sadeghian, Sami Haddadin
2025 J jnl
Geometrically-Aware One-Shot Skill Transfer of Category-Level Objects.
CoRR
Cristiana de Farias, Luis F. C. Figueredo, Riddhiman Laha, Maxime Adjigble, Brahim Tamadazte, Rustam Stolkin, Sami Haddadin, Naresh Marturi
2025 — conf
IBSA Joint: A Fully Integrated Bi-Stiffness Actuator Joint for Precise Energy Transfer Timing in Explosive Motion Tasks.
Humanoids
Mehmet Can Yildirim, Edmundo Pozo Fortunic, Dennis Ossadnik, Vasilije Rakcevic, Kangwagye Samuel, Abdalla Swikir, Valentin Le Mesle, Sami Haddadin
2025 A* conf
Introducing Collaborative Robots as a First Step Towards Autonomous Reprocessing of Medical Equipment.
ICRA
Florian Voigt, Abdeldjallil Naceri, Sami Haddadin
2025 A conf
Investigating the Fitness of Finger Grippers for Dynamic Tactile Manipulation Under Static Object Conditions.
IROS
Mehmet Can Yildirim, Dee Hva Choong, Johannes Ringwald, Robin Jeanne Kirschner, Valentin Le Mesle, Sami Haddadin
2025 A* conf
LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks.
ICRA
Kejia Chen, Zheng Shen, Yue Zhang, Lingyun Chen, Fan Wu, Zhenshan Bing, Sami Haddadin, Alois Knoll
2025 A* conf
LLM-as-BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning.
ICRA
Jicong Ao, Fan Wu, Yansong Wu, Abdalla Swikir, Sami Haddadin
2025 J jnl
Learning Wrist Policies for Anthropomorphic Soft Power Grasping in Handle and Door Manipulation.
IEEE Trans. Robotics
Florian Voigt, Abdeldjallil Naceri, Sami Haddadin
2025 J jnl
Learning a Shape-adaptive Assist-as-needed Rehabilitation Policy from Therapist-informed Input.
CoRR
Zhimin Hou, Jiacheng Hou, Xiao Chen, Hamid Sadeghian, Tianyu Ren, Sami Haddadin
2025 J jnl
Minimally-Back-Drivable Robots for Rehabilitation: Path-Adherent Permissiveness Control via Trajectory Adaptation.
IEEE Robotics Autom. Lett.
Erfan Shahriari, Johannes Lachner, Sami Haddadin, Neville Hogan
2025 A conf
Model Predictive Control for Cable-Driven Remote Actuation Systems with Friction and Compliance.
IROS
Moein Forouhar, Hamid Sadeghian, Yu Li, Sami Haddadin
2025 A conf
Model-Mediated Teleoperation with 3D Dynamic Environment Tracking (MMT-DET): A Comparative Study of Task Performance with Time-Domain Passivity Control.
IROS
Diego Fernandez Prado, Xiao Chen, Jean Elsner, Hamid Sadeghian, Nader Rajaei, Abdeldjallil Naceri, Sami Haddadin, Eckehard G. Steinbach
2025 A* conf
MonLog: MONotonic-Constrained LOGistic Regressions for Automated Safety Curve Design.
ICRA
Alessandro Melone, Robin Jeanne Kirschner, Dirk Müller, Abdalla Swikir, Sami Haddadin
2025 A* conf
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-Based Approach.
ICRA
Haowen Yao, Riddhiman Laha, Anirban Sinha, Jonas Hall, Luis F. C. Figueredo, Nilanjan Chakraborty, Sami Haddadin
2025 J jnl
Path-Constrained Haptic Motion Guidance via Adaptive Phase-Based Admittance Control.
IEEE Trans. Robotics
Erfan Shahriari, Petr Svarný, Seyed Ali Baradaran Birjandi, Matej Hoffmann, Sami Haddadin
2025 J jnl
Personalized Assistance in Robotic Rehabilitation: Real-Time Adaptation via Energy-Based Performance Monitoring.
IEEE Trans Autom. Sci. Eng.
Leilaalsadat Pezeshki, Hamid Sadeghian, Abolfazl Mohebbi, Mehdi Keshmiri, Sami Haddadin
2025 J jnl
Prompt2Auto: From Motion Prompt to Automated Control via Geometry-Invariant One-Shot Gaussian Process Learning.
CoRR
Zewen Yang, Xiaobing Dai, Dongfa Zhang, Yu Li, Ziyang Meng, Bingkun Huang, Hamid Sadeghian, Sami Haddadin
2025 J jnl
Reactive and Safety-Aware Path Replanning for Collaborative Applications.
CoRR
Cesare Tonola, Marco Faroni, Saeed Abdolshah, Mazin Hamad, Sami Haddadin, Nicola Pedrocchi, Manuel Beschi
2025 J jnl
Reactive and Safety-Aware Path Replanning for Collaborative Applications.
IEEE Trans Autom. Sci. Eng.
Cesare Tonola, Marco Faroni, Saeed Abdolshah, Mazin Hamad, Sami Haddadin, Nicola Pedrocchi, Manuel Beschi
2025 A* conf
Robust Nonprehensile Dynamic Object Transportation: A Closed-Loop Sensitivity Approach.
ICRA
Ainoor Teimoorzadeh, Andrea Pupa, Mario Selvaggio, Sami Haddadin
2025 J jnl
Safe Robot Reflexes: A Taxonomy-Based Decision and Modulation Framework.
IEEE Trans. Robotics
Jonathan Vorndamme, Alessandro Melone, Robin Jeanne Kirschner, Luis F. C. Figueredo, Sami Haddadin
2025 A conf
Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems.
IROS
Shreenabh Agrawal, Hugo T. M. Kussaba, Lingyun Chen, Allen Emmanuel Binny, Pushpak Jagtap, Sami Haddadin, Abdalla Swikir
2025 J jnl
Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems.
CoRR
Shreenabh Agrawal, Hugo T. M. Kussaba, Lingyun Chen, Allen Emmanuel Binny, Abdalla Swikir, Pushpak Jagtap, Sami Haddadin
2025 J jnl
SharedAssembly: A Data Collection Approach via Shared Tele-Assembly.
CoRR
Yansong Wu, Xiao Chen, Yu Chen, Hamid Sadeghian, Fan Wu, Zhenshan Bing, Sami Haddadin, Alexander König, Alois Knoll
2025 J jnl
Streaming Generated Gaussian Process Experts for Online Learning and Control.
CoRR
Zewen Yang, Dongfa Zhang, Xiaobing Dai, Fengyi Yu, Chi Zhang, Bingkun Huang, Hamid Sadeghian, Sami Haddadin
2025 — conf
Stretchable Capacitive and Resistive Strain Sensors: Accessible Manufacturing Using Direct Ink Writing.
RoboSoft
Lukas Cha, Sonja Groß, Shuai Mao, Tim Braun, Sami Haddadin, Liang He
2025 J jnl
Stretchable Capacitive and Resistive Strain Sensors: Accessible Manufacturing Using Direct Ink Writing.
CoRR
Lukas Cha, Sonja Groß, Shuai Mao, Tim Braun, Sami Haddadin, Liang He
2025 A* conf
TacDiffusion: Force-Domain Diffusion Policy for Precise Tactile Manipulation.
ICRA
Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Sami Haddadin, Alois Knoll
2025 J jnl
Tele-rehabilitation with online skill transfer and adaptation in ℝ
CoRR
Tianle Ni, Xiao Chen, Hamid Sadeghian, Sami Haddadin
2025 A* conf
Tension Dependent Twisted String Actuator Modelling and Efficacy Benchmarking in Force and Impedance Control.
ICRA
Christopher Herneth, Yi Cheng, Amartya Ganguly, Sami Haddadin
2025 A conf
The Foundation for Tactile Robots: Approaching the Holistic Analysis of a Robot's Force Sensing Capabilities.
IROS
Robin Jeanne Kirschner, Sebastian Siegner, Kübra Karacan, Sami Haddadin
2025 A* conf
The qPCRBot: Combining Automated Data Handling, Standardization, and Robotic Labware Transport for Better qPCR Measurements.
ICRA
Henning Zwirnmann, Moritz Eckhoff, Dennis Knobbe, Dorian Fülöp, Andrea Gabrielli, Sami Haddadin
2025 J jnl
Tree-Based Grafting Approach for Bidirectional Motion Planning With Local Subsets Optimization.
IEEE Robotics Autom. Lett.
Liding Zhang, Yao Ling, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll
2025 J jnl
Tree-Based Grafting Approach for Bidirectional Motion Planning with Local Subsets Optimization.
CoRR
Liding Zhang, Yao Ling, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll
2025 J jnl
Video-to-BT: Generating Reactive Behavior Trees from Human Demonstration Videos for Robotic Assembly.
CoRR
Xiwei Zhao, Yiwei Wang, Yansong Wu, Fan Wu, Teng Sun, Zhonghua Miao, Sami Haddadin, Alois Knoll
2025 — conf
Whole-Body Impedance Control of Service Robot GARMI with Non-Holonomic Constraint.
Humanoids
Moein Forouhar, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin
2024 A* conf
1 kHz Behavior Tree for Self-adaptable Tactile Insertion.
ICRA
Yansong Wu, Fan Wu, Lingyun Chen, Kejia Chen, Samuel Schneider, Lars Johannsmeier, Zhenshan Bing, Fares J. Abu-Dakka, Alois Knoll, Sami Haddadin
2024 A conf
A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts.
IROS
Dasharadhan Mahalingam, Aditya Patankar, Riddhiman Laha, Srinivasan Lakshminarayanan, Sami Haddadin, Nilanjan Chakraborty
2024 J jnl
A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts.
CoRR
Dasharadhan Mahalingam, Aditya Patankar, Riddhiman Laha, Srinivasan Lakshminarayanan, Sami Haddadin, Nilanjan Chakraborty
2024 A conf
A Novel Variable Stiffness Suspension System for Improved Stability and Control of Tactile Mobile Manipulators.
IROS
Sebastian Kuhn, Mehmet Can Yildirim, Edmundo Pozo Fortunic, Kübra Karacan, Abdalla Swikir, Sami Haddadin
2024 J jnl
A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload.
IEEE Robotics Autom. Lett.
Kangwagye Samuel, Kevin Haninger, Roberto Oboe, Sami Haddadin, Sehoon Oh
2024 A conf
A Scalable Platform for Robot Learning and Physical Skill Data Collection.
IROS
Samuel Schneider, Yansong Wu, Lars Johannsmeier, Fan Wu, Sami Haddadin
2024 A conf
A Tactile Lightweight Exoskeleton for Teleoperation: Design and Control Performance.
IROS
Moein Forouhar, Hamid Sadeghian, Daniel Pérez-Suay, Abdeldjallil Naceri, Sami Haddadin
2024 J jnl
A transhumeral prosthesis with an artificial neuromuscular system: Sim2real-guided design, modeling, and control.
Int. J. Robotics Res.
Alexander Toedtheide, Edmundo Pozo Fortunic, Johannes Kühn, Elisabeth Rose Jensen, Sami Haddadin
2024 J jnl
Acceptance of Remote Assistive Robots with and without Human-in-the-Loop for Healthcare Applications.
Int. J. Soc. Robotics
Simone Nertinger, Robin Jeanne Kirschner, Abdeldjallil Naceri, Sami Haddadin
2024 A* conf
Accurate Kinematic Modeling using Autoencoders on Differentiable Joints.
ICRA
Nikolas J. Wilhelm, Sami Haddadin, Rainer Burgkart, Patrick van der Smagt, Maximilian Karl
2024 A conf
An Adaptive Robotic Exoskeleton for Comprehensive Force-Controlled Hand Rehabilitation.
IROS
Nikolas J. Wilhelm, Victor Schaack, Annick Leisching, Carina Micheler, Sami Haddadin, Rainer Burgkart
2024 A conf
An Optimization-based Scheme for Real-time Transfer of Human Arm Motion to Robot Arm.
IROS
Zhelin Yang, Seongjin Bien, Simone Nertinger, Abdeldjallil Naceri, Sami Haddadin
2024 A* conf
Autonomous UAV Mission Cycling: A Mobile Hub Approach for Precise Landings and Continuous Operations in Challenging Environments.
ICRA
Alexander Moortgat-Pick, Marie Schwahn, Anna Adamczyk, Daniel A Duecker, Sami Haddadin
2024 A* conf
Autonomous and Teleoperation Control of a Drawing Robot Avatar.
ICRA
Lingyun Chen, Abdeldjallil Naceri, Abdalla Swikir, Sandra Hirche, Sami Haddadin
2024 J jnl
Autonomous and Teleoperation Control of a Drawing Robot Avatar.
CoRR
Lingyun Chen, Abdeldjallil Naceri, Abdalla Swikir, Sandra Hirche, Sami Haddadin
2024 J jnl
Behavior Tree Generation using Large Language Models for Sequential Manipulation Planning with Human Instructions and Feedback.
CoRR
Jicong Ao, Yansong Wu, Fan Wu, Sami Haddadin
2024 A* conf
CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation.
ICRA
Peter So, Rafael I. Cabral Muchacho, Robin Jeanne Kirschner, Abdalla Swikir, Luis F. C. Figueredo, Fares J. Abu-Dakka, Sami Haddadin
2024 — conf
Compositional Construction of Barrier Functions for Switched Impulsive Systems.
CDC
Katharina Bieker, Hugo T. M. Kussaba, Philipp Scholl, Jaesug Jung, Abdalla Swikir, Sami Haddadin, Gitta Kutyniok
2024 — conf
Compositional Safety Verification of Infinite Networks: A Data-Driven Approach.
ECC
Ali Aminzadeh, Abdalla Swikir, Sami Haddadin, Abolfazl Lavaei
2024 A conf
Demonstration to Adaptation: A User-Guided Framework for Sequential and Real-Time Planning.
IROS
Kuanqi Cai, Riddhiman Laha, Yuhe Gong, Lingyun Chen, Liding Zhang, Luis F. C. Figueredo, Sami Haddadin
2024 — conf
Design and Evaluation of a Surgical Tool Drive Unit for Sustainable Training in Robot-Assisted Minimally Invasive Surgery.
BioRob
Celal Umut Kenanoglu, Valentin Le Mesle, Gjergji Luarasi, Hamid Sadeghian, Sami Haddadin
2024 A* conf
Design and Implementation of a Robotic Testbench for Analyzing Pincer Grip Execution in Human Specimen Hands.
ICRA
Nikolas J. Wilhelm, Claudio Glowalla, Sami Haddadin, Julian Schote, Hannes Höppner, Patrick van der Smagt, Maximilian Karl, Rainer Burgkart
2024 — conf
Designing Humanoids: How Robot Posture Influences Users' Perceived Safety in HRI.
Humanoids
Simone Nertinger, Olivia Herzog, Anna Mühlbauer, Abdeldjallil Naceri, Sami Haddadin
2024 J jnl
Digital Robot Judge: Building a Task-Centric Performance Database of Real-World Manipulation With Electronic Task Boards.
IEEE Robotics Autom. Mag.
Peter So, Andriy Sarabakha, Fan Wu, Utku Culha, Fares J. Abu-Dakka, Sami Haddadin
2024 J jnl
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics.
CoRR
Junewhee Ahn, Jaesug Jung, Yisoo Lee, Hokyun Lee, Sami Haddadin, Jaeheung Park
2024 A conf
Elliptical K-Nearest Neighbors - Path Optimization via Coulomb's Law and Invalid Vertices in C-space Obstacles.
IROS
Liding Zhang, Zhenshan Bing, Yu Zhang, Kuanqi Cai, Lingyun Chen, Fan Wu, Sami Haddadin, Alois Knoll
2024 J jnl
Enhanced Dexterity Maps (EDM): A New Map for Manipulator Capability Analysis.
IEEE Robotics Autom. Lett.
Haowen Yao, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin
2024 A conf
Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach.
IROS
Erfan Shahriari, Kim Kristin Peper, Matej Hoffmann, Sami Haddadin
2024 J jnl
Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach.
CoRR
Erfan Shahriari, Kim K. Peper, Matej Hoffmann, Sami Haddadin
2024 A* conf
Enhancing the Tracking Performance of Passivity-based High-Frequency Robot Cloud Control.
ICRA
Fabian Jakob, Xiao Chen, Hamid Sadeghian, Sami Haddadin
2024 — conf
Estimation of External Force acting on Underwater Robots.
CASE
Srinivasan Lakshminarayanan, Daniel A Duecker, Andriy Sarabakha, Amartya Ganguly, Leila Takayama, Sami Haddadin
2024 A conf
Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning.
IROS
Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Kuanqi Cai, Yu Zhang, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll
2024 A conf
Functional kinematic and kinetic requirements of the upper limb during activities of daily living: a recommendation on necessary joint capabilities for prosthetic arms.
IROS
Christopher Herneth, Amartya Ganguly, Sami Haddadin
2024 J jnl
Functional kinematic and kinetic requirements of the upper limb during activities of daily living: a recommendation on necessary joint capabilities for prosthetic arms.
CoRR
Christopher Herneth, Amartya Ganguly, Sami Haddadin
2024 A conf
Generating Force Vectors from Projective Truncated Signed Distance Fields for Collision Avoidance and Haptic Feedback.
IROS
Seongjin Bien, Abdeldjallil Naceri, Luis F. C. Figueredo, Sami Haddadin
2024 A* conf
Geometric Slosh-Free Tracking for Robotic Manipulators.
ICRA
Jon Arrizabalaga, Lukas Pries, Riddhiman Laha, Runkang Li, Sami Haddadin, Markus Ryll
2024 J jnl
Geometric Slosh-Free Tracking for Robotic Manipulators.
CoRR
Jon Arrizabalaga, Lukas Pries, Riddhiman Laha, Runkang Li, Sami Haddadin, Markus Ryll
2024 A conf
Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger.
IROS
Junnan Li, Lingyun Chen, Johannes Ringwald, Edmundo Pozo Fortunic, Amartya Ganguly, Sami Haddadin
2024 J jnl
Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger.
CoRR
Junnan Li, Lingyun Chen, Johannes Ringwald, Edmundo Pozo Fortunic, Amartya Ganguly, Sami Haddadin
2024 A conf
Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation.
IROS
Kangwagye Samuel, Kevin Haninger, Sami Haddadin, Sehoon Oh
2024 J jnl
Informed circular fields: a global reactive obstacle avoidance framework for robotic manipulators.
Frontiers Robotics AI
Marvin Becker, Philipp Caspers, Torsten Lilge, Sami Haddadin, Matthias Albrecht Müller
2024 J jnl
LLM as BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning.
CoRR
Jicong Ao, Fan Wu, Yansong Wu, Abdalla Swikir, Sami Haddadin
2024 A* conf
Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots.
ICRA
Martin Schonger, Hugo T. M. Kussaba, Lingyun Chen, Luis F. C. Figueredo, Abdalla Swikir, Aude Billard, Sami Haddadin
2024 J jnl
Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots.
CoRR
Martin Schonger, Hugo T. M. Kussaba, Lingyun Chen, Luis F. C. Figueredo, Abdalla Swikir, Aude Billard, Sami Haddadin
2024 J jnl
Learning Task Planning from Multi-Modal Demonstration for Multi-Stage Contact-Rich Manipulation.
CoRR
Kejia Chen, Zheng Shen, Yue Zhang, Lingyun Chen, Fan Wu, Zhenshan Bing, Sami Haddadin, Alois Knoll
2024 J jnl
Motion Planning Using Reactive Circular Fields: A 2-D Analysis of Collision Avoidance and Goal Convergence.
IEEE Trans. Autom. Control.
Marvin Becker, Johannes Köhler, Sami Haddadin, Matthias Albrecht Müller
2024 J jnl
Motion Planning for Robotics: A Review for Sampling-based Planners.
CoRR
Liding Zhang, Kuanqi Cai, Zewei Sun, Zhenshan Bing, Chaoqun Wang, Luis F. C. Figueredo, Sami Haddadin, Alois Knoll
2024 J jnl
Multicentric development and validation of a multi-scale and multi-task deep learning model for comprehensive lower extremity alignment analysis.
Artif. Intell. Medicine
Nikolas J. Wilhelm, Claudio E. von Schacky, Felix J. Lindner, Matthias J. Feucht, Yannick Ehmann, Jonas Pogorzelski, Sami Haddadin, Jan Neumann, Florian Hinterwimmer, Rüdiger von Eisenhart-Rothe, Matthias Jung, Maximilian F. Russe, Kaywan Izadpanah, Sebastian Siebenlist, Rainer Burgkart, Marco-Christopher Rupp
2024 — conf
Network-aware Shared Autonomy in Bilateral Teleoperation.
Humanoids
Xiao Chen, Youssef Michel, Hamid Sadeghian, Sami Haddadin
2024 J jnl
Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk.
CoRR
Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin
2024 A conf
OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism.
IROS
Sonja Groß, Michael Ratzel, Edgar Welte, Diego Hidalgo-Carvajal, Lingyun Chen, Edmundo Pozo Fortunic, Amartya Ganguly, Abdalla Swikir, Sami Haddadin
2024 J jnl
OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism.
CoRR
Sonja Groß, Michael Ratzel, Edgar Welte, Diego Hidalgo-Carvajal, Lingyun Chen, Edmundo Pozo Fortunic, Amartya Ganguly, Abdalla Swikir, Sami Haddadin
2024 A conf
Object Augmentation Algorithm: Computing virtual object motion and object induced interaction wrench from optical markers.
IROS
Christopher Herneth, Junnan Li, Muhammad Hilman Fatoni, Amartya Ganguly, Sami Haddadin
2024 J jnl
Object Augmentation Algorithm: Computing virtual object motion and object induced interaction wrench from optical markers.
CoRR
Christopher Herneth, Junnan Li, Muhammad Hilman Fatoni, Amartya Ganguly, Sami Haddadin
2024 J jnl
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach.
CoRR
Haowen Yao, Riddhiman Laha, Anirban Sinha, Jonas Hall, Luis F. C. Figueredo, Nilanjan Chakraborty, Sami Haddadin
2024 Misc conf
Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework.
CoRL
Xiao Chen, Tianle Ni, Kübra Karacan, Hamid Sadeghian, Sami Haddadin
2024 A conf
Ontology Based AI Planning and Scheduling for Robotic Assembly.
IROS
Jingyun Zhao, Birgit Vogel-Heuser, Jicong Ao, Yansong Wu, Liding Zhang, Fandi Hartl, Dominik Hujo, Zhenshan Bing, Fan Wu, Alois Knoll, Sami Haddadin, Bernd Vojanec, Timo Markert, André Kraft
2024 A* conf
Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach.
ICRA
Dennis Ossadnik, Vasilije Rakcevic, Mehmet Can Yildirim, Edmundo Pozo Fortunic, Hugo T. M. Kussaba, Abdalla Swikir, Sami Haddadin
2024 J jnl
Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach.
CoRR
Dennis Ossadnik, Vasilije Rakcevic, Mehmet Can Yildirim, Edmundo Pozo Fortunic, Hugo T. M. Kussaba, Abdalla Swikir, Sami Haddadin
2024 A conf
Optimizing Interaction Space: Enlarging the Capture Volume for Multiple Portable Motion Capture Devices.
IROS
Muhammad Hilman Fatoni, Christopher Herneth, Junnan Li, Fajar Budiman, Amartya Ganguly, Sami Haddadin
2024 J jnl
Optimizing Interaction Space: Enlarging the Capture Volume for Multiple Portable Motion Capture Devices.
CoRR
Muhammad Hilman Fatoni, Christopher Herneth, Junnan Li, Fajar Budiman, Amartya Ganguly, Sami Haddadin
2024 A* conf
Predicting against the Flow: Boosting Source Localization by Means of Field Belief Modeling using Upstream Source Proximity.
ICRA
Finn L. Busch, Nathalie Bauschmann, Sami Haddadin, Robert Seifried, Daniel A Duecker
2024 J jnl
Predictive Multi-Agent-Based Planning and Landing Controller for Reactive Dual-Arm Manipulation.
IEEE Trans. Robotics
Riddhiman Laha, Marvin Becker, Jonathan Vorndamme, Juraj Vrabel, Luis F. C. Figueredo, Matthias Albrecht Müller, Sami Haddadin
2024 A* conf
RETOM: Leveraging Maneuverability for Reactive Tool Manipulation using Wrench-Fields.
ICRA
Felix Eberle, Riddhiman Laha, Haowen Yao, Abdeldjallil Naceri, Luis F. C. Figueredo, Sami Haddadin
2024 A* conf
Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints.
ICRA
Kejia Chen, Zhenshan Bing, Yansong Wu, Fan Wu, Liding Zhang, Sami Haddadin, Alois Knoll
2024 J jnl
Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints.
CoRR
Kejia Chen, Zhenshan Bing, Yansong Wu, Fan Wu, Liding Zhang, Sami Haddadin, Alois Knoll
2024 J jnl
SVan: A Mobile Hub as a Field Robotics Development and Deployment Platform.
CoRR
Alexander Moortgat-Pick, Anna Adamczyk, Daniel A Duecker, Sami Haddadin
2024 A* conf
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions.
ICRA
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin
2024 J jnl
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions.
CoRR
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin
2024 A* conf
Safe-By-Design Digital Twins for Human-Robot Interaction: A Use Case for Humanoid Service Robots.
ICRA
Jon Skerlj, Mazin Hamad, Jean Elsner, Abdeldjallil Naceri, Sami Haddadin
2024 J jnl
Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC.
CoRR
Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo, Sami Haddadin
2024 J jnl
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation.
CoRR
Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Alois Knoll, Sami Haddadin
2024 A* conf
Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control.
ICRA
Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
2024 J jnl
Tactile-Morph Skills: Energy-Based Control Meets Data-Driven Learning.
CoRR
Anran Zhang, Kübra Karacan, Hamid Sadeghian, Yansong Wu, Fan Wu, Sami Haddadin
2024 J jnl
The Fingertip Manipulability Assessment of Tendon-Driven Multi-Fingered Hands.
IEEE Robotics Autom. Lett.
Junnan Li, Amartya Ganguly, Luis F. C. Figueredo, Sami Haddadin
2024 J jnl
The Franka Emika Robot: A Standard Platform in Robotics Research [Survey].
IEEE Robotics Autom. Mag.
Sami Haddadin
2024 J jnl
The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots.
IEEE Robotics Autom. Mag.
Sergi Molina Mellado, Anna Mannucci, Martin Magnusson, Daniel Adolfsson, Henrik Andreasson, Mazin Hamad, Saeed Abdolshah, Ravi Teja Chadalavada, Luigi Palmieri, Timm Linder, Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, Marc Hanheide, Manuel Fernández-Carmona, Grzegorz Cielniak, Tom Duckett, Federico Pecora, Simon Bokesand, Kai O. Arras, Sami Haddadin, Achim J. Lilienthal
2024 J jnl
The synergy complement control approach for seamless limb-driven prostheses.
Nat. Mac. Intell.
Johannes Kühn, Tingli Hu, Alexander Toedtheide, Edmundo Pozo Fortunic, Elisabeth Rose Jensen, Sami Haddadin
2024 J jnl
Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D.
CoRR
Lingyun Chen, Haoyu Yu, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin
2024 — conf
Time-Optimized Trajectory Planning for Non-prehensile Object Transportation in 3D.
ERF (2)
Lingyun Chen, Haoyu Yu, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin
2024 A* conf
Torque Transmission in Double-Tendon Sheath Driven Actuators for Application in Exoskeletons.
ICRA
Daniel Pérez-Suay, Yu Li, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin
2024 — conf
Towards Mastering Real-World Robot Benchmarking: Lessons Learned from the Robothon Grand Challenge.
ERF (2)
Peter So, Ahmed Abdelrahman, Hoan Quang Le, Abdalla Swikir, Sami Haddadin
2024 A* conf
Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database.
ICRA
Robin Jeanne Kirschner, Carina M. Micheler, Yangcan Zhou, Sebastian Siegner, Mazin Hamad, Claudio Glowalla, Jan Neumann, Nader Rajaei, Rainer Burgkart, Sami Haddadin
2024 J jnl
Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database.
CoRR
Robin Jeanne Kirschner, Carina Micheler, Yangcan Zhou, Sebastian Siegner, Mazin Hamad, Claudio Glowalla, Jan Neumann, Nader Rajaei, Rainer Burgkart, Sami Haddadin
2024 A conf
Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand.
IROS
Robin Jeanne Kirschner, Jinyu Yang, Edonis Elshani, Carina M. Micheler, Tobias Leibbrand, Dirk Müller, Claudio Glowalla, Nader Rajaei, Rainer Burgkart, Sami Haddadin
2024 J jnl
Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand.
CoRR
Robin Jeanne Kirschner, Jinyu Yang, Edonis Elshani, Carina M. Micheler, Tobias Leibbrand, Dirk Müller, Claudio Glowalla, Nader Rajaei, Rainer Burgkart, Sami Haddadin
2024 A conf
Trajectory Planning for Non-Prehensile Object Transportation.
IROS
Lingyun Chen, Haoyu Yu, Liding Zhang, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin
2024 — conf
Transcranial Magnetic Stimulation Robotic Assistant: towards a fully automated stimulation session.
BioRob
Ioannis Xygonakis, Riccardo Seganfreddo, Mazin Hamad, Samuel Schneider, Axel Schröder, Sandro M. Krieg, Bernhard Meyer, Lorenzo Chiari, Melissa Zavaglia, Sami Haddadin
2024 J jnl
ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk.
CoRR
Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin
2024 J jnl
Unified force-impedance control.
Int. J. Robotics Res.
Sami Haddadin, Erfan Shahriari
2024 A conf
Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control.
IROS
Kübra Karacan, Anran Zhang, Hamid Sadeghian, Fan Wu, Sami Haddadin
2024 J jnl
Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control.
CoRR
Kübra Karacan, Anran Zhang, Hamid Sadeghian, Fan Wu, Sami Haddadin
2023 — conf
A Concise Overview of Safety Aspects in Human-Robot Interaction.
HFR
Mazin Hamad, Simone Nertinger, Robin Jeanne Kirschner, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin
2023 J jnl
A Concise Overview of Safety Aspects in Human-Robot Interaction.
CoRR
Mazin Hamad, Simone Nertinger, Robin Jeanne Kirschner, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin
2023 A* conf
A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics.
ICRA
Alexander Toedtheide, Xiao Chen, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin
2023 A* conf
A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud.
ICRA
Xiao Chen, Hamid Sadeghian, Lingyun Chen, Mario Tröbinger, Abadalla Swirkir, Abdeldjallil Naceri, Sami Haddadin
2023 A conf
A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration.
IROS
Seyed Ali Baradaran Birjandi, Harshit Khurana, Aude Billard, Sami Haddadin
2023 — conf
A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading.
Humanoids
Mehmet Can Yildirim, Edgar Alejandro Pisano, Mazin Hamad, Valentin Le Mesle, Abdalla Swikir, Sami Haddadin
2023 J jnl
A Wearable Force-Sensitive and Body-Aware Exoprosthesis for a Transhumeral Prosthesis Socket.
IEEE Trans. Robotics
Alexander Toedtheide, Edmundo Pozo Fortunic, Johannes Kühn, Elisabeth Rose Jensen, Sami Haddadin
2023 J jnl
Aim-Aware Collision Monitoring: Discriminating Between Expected and Unexpected Post-Impact Behaviors.
IEEE Robotics Autom. Lett.
Benn Proper, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin, Alessandro Saccon
2023 J jnl
Anthropomorphic Grasping With Neural Object Shape Completion.
IEEE Robotics Autom. Lett.
Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma Carolina Bettelani, Jaesug Jung, Melissa Zavaglia, Laura Busse, Abdeldjallil Naceri, Stefan Leutenegger, Sami Haddadin
2023 J jnl
Anthropomorphic Grasping with Neural Object Shape Completion.
CoRR
Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma Carolina Bettelani, Jaesug Jung, Melissa Zavaglia, Laura Busse, Abdeldjallil Naceri, Stefan Leutenegger, Sami Haddadin
2023 — conf
Assessing Human-Human Kinematics for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A Pilot Study.
ICORR
Simone Nertinger, Neha Das, Satoshi Endo, Abdeldjallil Naceri, Sandra Hirche, Sami Haddadin
2023 B conf
Assessing Perceived Discomfort and Proxemic Behavior towards Robots: A Comparative Study between Real and Augmented Reality Presentations.
RO-MAN
Olivia Herzog, Simone Nertinger, Katharina Wenzel, Abdeldjallil Naceri, Sami Haddadin, Klaus Bengler
2023 J jnl
Automatic Gripper-Finger Design, Production, and Application: Toward Fast and Cost-Effective Small-Batch Production.
IEEE Robotics Autom. Mag.
Johannes Ringwald, Shaochuan Zong, Abdalla Swikir, Sami Haddadin
2023 C conf
Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments.
ISM
Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjin Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard
2023 J jnl
Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments.
CoRR
Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjin Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard
2023 A conf
Contact-Aware Shaping and Maintenance of Deformable Linear Objects With Fixtures.
IROS
Kejia Chen, Zhenshan Bing, Fan Wu, Yuan Meng, André Kraft, Sami Haddadin, Alois Knoll
2023 J jnl
Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures.
CoRR
Kejia Chen, Zhenshan Bing, Fan Wu, Yuan Meng, André Kraft, Sami Haddadin, Alois Knoll
2023 J jnl
Cooperative Assist-as-Needed Control for Robotic Rehabilitation: A Two-Player Game Approach.
IEEE Robotics Autom. Lett.
Leilaalsadat Pezeshki, Hamid Sadeghian, Mehdi Keshmiri, Xiao Chen, Sami Haddadin
2023 — conf
Data Recording for Responsible Robotics.
ARSO
Jon Skerlj, Maximilian Braun, Sophia Witz, Svenja Breuer, Marieke Bak, Sebastian Scholz, Abdeldjallil Naceri, Ruth Müller, Sami Haddadin, Iris Eisenberger
2023 J jnl
Dual-Material 3D-Printed PaCoMe-Like Fingers for Flexible Biolaboratory Automation.
CoRR
Henning Zwirnmann, Dennis Knobbe, Utku Culha, Sami Haddadin
2023 J jnl
ECDP: Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots.
IEEE Robotics Autom. Lett.
Juan Heredia, Robin Jeanne Kirschner, Christian Schlette, Saeed Abdolshah, Sami Haddadin, Mikkel Baun Kjærgaard
2023 — conf
Error-related Potentials in a Virtual Pick-and-Place Experiment: Toward Real-world Shared-control.
EMBC
Viktorija Dimova-Edeleva, Oscar Soto Rivera, Riddhiman Laha, Luis F. C. Figueredo, Melissa Zavaglia, Sami Haddadin
2023 — conf
Estimating Joint Kinematics and Muscles Forces During Robotic Rehabilitation to Detect and Counteract Reduced Ankle Mobility.
ICORR
Kim K. Peper, Elisabeth Rose Jensen, Sami Haddadin
2023 J jnl
Fast yet predictable braking manoeuvers for real-time robot control.
CoRR
Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba, Nico Mansfeld, Saeed Abdolshah, Abdalla Swikir, Wolfram Burgard, Sami Haddadin
2023 J jnl
Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach for Informed Sampling-Based Planner.
CoRR
Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll
2023 — conf
From Human Hand to Grasp Surface Detection, Tracking & Analysis.
EMBC
Diego Hidalgo-Carvajal, Abdeldjallil Naceri, Sami Haddadin
2023 — conf
Human-Inspired Audiovisual Inducement of Whole-Body Responses.
Humanoids
Seongjin Bien, Jon Skerlj, Paul Thiel, Felix Eberle, Mario Tröbinger, Christian Stolle, Luis F. C. Figueredo, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin
2023 A conf
I
IROS
Florian Voigt, Abdeldjallil Naceri, Sami Haddadin
2023 A* conf
Identification of a Generalized Base Inertial Parameter Set of Robotic Manipulators Considering Mounting Configurations.
ICRA
Mario Tröbinger, Abdeldjallil Naceri, Xiao Chen, Hamid Sadeghian, Sami Haddadin
2023 B conf
Identifying Requirements for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A user-centered design approach.
RO-MAN
Simone Nertinger, Abdeldjallil Naceri, Sami Haddadin
2023 — conf
Individualized Training of Back Muscles Using Iterative Learning Control of a Compliant Balance Board.
ICORR
Elisabeth Rose Jensen, Reihaneh Mirjalili, Kim K. Peper, Dennis Ossadnik, Fan Wu, Jan Josef Lang, Matthias Martin, Florian Hetfleisch, Rainer Burgkart, Sami Haddadin
2023 — conf
Influence of robot motion and human factors on users' perceived safety in HRI.
ARSO
Simone Nertinger, Robin Jeanne Kirschner, Saeed Abdolshah, Abdeldjallil Naceri, Sami Haddadin
2023 A* conf
LATTE: LAnguage Trajectory TransformEr.
ICRA
Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Sai Vemprala, Rogerio Bonatti
2023 A conf
Labelling Lightweight Robot Energy Consumption: A Mechatronics-Based Benchmarking Metric Set.
IROS
Juan Heredia, Robin Jeanne Kirschner, Christian Schlette, Saeed Abdolshah, Sami Haddadin, Mikkel Baun Kjærgaard
2023 J jnl
Learning optimal controllers: a dynamical motion primitive approach.
CoRR
Hugo Tadashi M. Kussaba, Abdalla Swikir, Fan Wu, Anastasija Demerdjieva, Gitta Kutyniok, Sami Haddadin
2023 J jnl
LoHoRavens: A Long-Horizon Language-Conditioned Benchmark for Robotic Tabletop Manipulation.
CoRR
Shengqiang Zhang, Philipp Wicke, Lütfi Kerem Senel, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin, Barbara Plank, Hinrich Schütze
2023 J jnl
Machine learning-driven self-discovery of the robot body morphology.
Sci. Robotics
Fernando Diaz Ledezma, Sami Haddadin
2023 — conf
Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation.
ICORR
Hossein Kavianirad, Moein Forouhar, Hamid Sadeghian, Satoshi Endo, Sami Haddadin, Sandra Hirche
2023 J jnl
Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots.
IEEE Trans. Robotics
Mazin Hamad, Alexander Kurdas, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
2023 J jnl
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept.
CoRR
Edmundo Pozo Fortunic, Mehmet Can Yildirim, Dennis Ossadnik, Abdalla Swikir, Saeed Abdolshah, Sami Haddadin
2023 J jnl
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept.
IEEE Robotics Autom. Lett.
Edmundo Pozo Fortunic, Mehmet Can Yildirim, Dennis Ossadnik, Abdalla Swikir, Saeed Abdolshah, Sami Haddadin
2023 — conf
Real-Time-Capable Muscle Force Estimation for Monitoring Robotic Rehabilitation Therapy in the Intensive Care Unit.
EMBC
Kim K. Peper, Alexander Aasmann, Elisabeth Rose Jensen, Sami Haddadin
2023 — conf
Robust Independent Component Analysis based EMG decomposition - a comparison study.
EMBC
Ioannis Xygonakis, Melissa Zavaglia, Sami Haddadin
2023 A* conf
S*: On Safe and Time Efficient Robot Motion Planning.
ICRA
Riddhiman Laha, Wenxi Wu, Ruiai Sun, Nico Mansfeld, Luis F. C. Figueredo, Sami Haddadin
2023 — conf
Self-Organization and Collaboration in Robotic Manufacturing Systems.
CASE
Andreas Frotzscher, Xiao Chen, Duy Lam Tran, Thore Goll, Hamid Sadeghian, Fan Wu, Martin Dehmel, Tommy Wohlfahrt, Matthias Riedl, Sami Haddadin
2023 A conf
Shared Autonomy Control for Slosh-Free Teleoperation.
IROS
Rafael I. Cabral Muchacho, Seongjin Bien, Riddhiman Laha, Abdeldjallil Naceri, Luis F. C. Figueredo, Sami Haddadin
2023 — conf
Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC.
HFR
Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo, Sami Haddadin
2023 A* conf
Soft Sensing Skins for Arbitrary Objects: An Automatic Framework.
ICRA
Sonja Groß, Diego Hidalgo-Carvajal, Silija Breimann, Nicolai Stein, Amartya Ganguly, Abdeldjallil Naceri, Sami Haddadin
2023 — conf
Tendon to Object Space: Evaluation of Anthropomorphic Finger for Human-Like Performance.
HFR
Junnan Li, Amartya Ganguly, Luis F. C. Figueredo, Sami Haddadin
2023 — conf
The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control.
CDC
Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
2023 J jnl
The Next Evolution of Artificial Sense of Touch.
CoRR
Sonja Groß, Amartya Ganguly, Hendrik Dietz, Sami Haddadin
2023 A conf
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles.
IROS
Moritz Eckhoff, Dennis Knobbe, Henning Zwirnmann, Abdalla Swikir, Sami Haddadin
2023 J jnl
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles.
CoRR
Moritz Eckhoff, Dennis Knobbe, Henning Zwirnmann, Abdalla Swikir, Sami Haddadin
2023 A conf
Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers
IROS
Henning Zwirnmann, Dennis Knobbe, Utku Culha, Sami Haddadin
2023 J jnl
Towards Language-Based Modulation of Assistive Robots through Multimodal Models.
CoRR
Philipp Wicke, Lütfi Kerem Senel, Shengqiang Zhang, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin, Hinrich Schütze
2023 J jnl
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics.
IEEE Robotics Autom. Lett.
Johannes Ringwald, Samuel Schneider, Lingyun Chen, Dennis Knobbe, Lars Johannsmeier, Abdalla Swikir, Sami Haddadin
2023 J jnl
Validation of a Robotic Testbench for Evaluating Biomechanical Effects of Implant Rotation in Total Knee Arthroplasty on a Cadaveric Specimen.
Sensors
Nikolas J. Wilhelm, Constantin von Deimling, Sami Haddadin, Claudio Glowalla, Rainer Burgkart
2022 A conf
A Solution to Slosh-free Robot Trajectory Optimization.
IROS
Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin
2022 J jnl
A Solution to Slosh-free Robot Trajectory Optimization.
CoRR
Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin
2022 A conf
A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation.
IROS
Alexander Moortgat-Pick, Peter So, Michael J. Sack, Emma G. Cunningham, Benjamin Paul Hughes, Anna Adamczyk, Andriy Sarabakha, Leila Takayama, Sami Haddadin
2022 — conf
Adaptive Admittance Control for Cooperative Manipulation using Dual Quaternion Representation and Logarithmic Mapping.
CDC
Rachele Nebbia Colomba, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin
2022 A* conf
An MPC Framework For Planning Safe & Trustworthy Robot Motions.
ICRA
Moritz Eckhoff, Robin Jeanne Kirschner, Elena Kern, Saeed Abdolshah, Sami Haddadin
2022 A conf
BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots.
IROS
Dennis Ossadnik, Mehmet Can Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah, Sami Haddadin
2022 J jnl
BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots.
CoRR
Dennis Ossadnik, Mehmet Can Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah, Sami Haddadin
2022 A conf
Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance.
IROS
Lars Johannsmeier, Sami Haddadin
2022 C conf
Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-Emf.
ACC
Edmundo Pozo Fortunic, Abdalla Swikir, Saeed Abdolsah, Sami Haddadin
2022 A* conf
Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees.
ICRA
Riddhiman Laha, Ruiai Sun, Wenxi Wu, Dasharadhan Mahalingam, Nilanjan Chakraborty, Luis F. C. Figueredo, Sami Haddadin
2022 J jnl
Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees.
CoRR
Riddhiman Laha, Ruiai Sun, Wenxi Wu, Dasharadhan Mahalingam, Nilanjan Chakraborty, Luis F. C. Figueredo, Sami Haddadin
2022 A conf
Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling.
IROS
Dennis Knobbe, Henning Zwirnmann, Moritz Eckhoff, Sami Haddadin
2022 A* conf
Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result.
ICRA
Mehmet Can Yildirim, Mohamadreza Sabaghian, Thore Goll, Clemens Kössler, Christoph Jähne, Abdalla Swikir, Andriy Sarabakha, Sami Haddadin
2022 J jnl
Development of an Exoskeleton Platform of the Finger for Objective Patient Monitoring in Rehabilitation.
Sensors
Nikolas Jakob Wilhelm, Sami Haddadin, Jan Josef Lang, Carina Micheler, Florian Hinterwimmer, Anselm Reiners, Rainer Burgkart, Claudio Glowalla
2022 J jnl
End-to-End From Human Hand Synergies to Robot Hand Tendon Routing.
IEEE Robotics Autom. Lett.
Diego Hidalgo-Carvajal, Christopher Herneth, Abdeldjallil Naceri, Sami Haddadin
2022 J jnl
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction.
IEEE Robotics Autom. Lett.
Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
2022 — conf
Functional Mode Switching for Safe and Efficient Human-Robot Interaction.
Humanoids
Petr Svarný, Mazin Hamad, Alexander Kurdas, Matej Hoffmann, Saeed Abdolshah, Sami Haddadin
2022 — conf
Global Safety Characteristics of Wheeled Mobile Manipulators.
CASE
Nico Mansfeld, Guillermo Gómez Peña, Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin
2022 A conf
Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP.
IROS
Anna Reithmeir, Luis F. C. Figueredo, Sami Haddadin
2022 J jnl
Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP.
CoRR
Anna Reithmeir, Luis F. C. Figueredo, Sami Haddadin
2022 J jnl
ISO/TS 15066: How Different Interpretations Affect Risk Assessment.
CoRR
Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
2022 J jnl
Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators.
CoRR
Marvin Becker, Philipp Caspers, Tom Hattendorf, Torsten Lilge, Sami Haddadin, Matthias Albrecht Müller
2022 — conf
Integrated Bi-Manual Motion Generation and Control shaped for Probabilistic Movement Primitives.
Humanoids
Jonathan Vorndamme, João Carvalho, Riddhiman Laha, Dorothea Koert, Luis F. C. Figueredo, Jan Peters, Sami Haddadin
2022 J jnl
LaTTe: Language Trajectory TransformEr.
CoRR
Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Sai Vemprala, Rogerio Bonatti
2022 A conf
Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance.
IROS
Robin Jeanne Kirschner, Florian Martineau, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
2022 A* conf
Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction.
ICRA
Thomas Steinecker, Alexander Kurdas, Nico Mansfeld, Mazin Hamad, Robin Jeanne Kirschner, Saeed Abdolshah, Sami Haddadin
2022 J jnl
Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence.
CoRR
Marvin Becker, Johannes Köhler, Sami Haddadin, Matthias A. Müller
2022 — conf
Object-Centric Grasping Transferability: Linking Meshes to Postures.
Humanoids
Diego Hidalgo-Carvajal, Carlos Magno C. O. Valle, Abdeldjallil Naceri, Sami Haddadin
2022 A conf
On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G.
IROS
Xiao Chen, Lars Johannsmeier, Hamid Sadeghian, Erfan Shahriari, Martin Danneberg, Anselm Nicklas, Fan Wu, Gerhard P. Fettweis, Sami Haddadin
2022 A* conf
Online Payload Identification for Tactile Robots Using the Momentum Observer.
ICRA
Alexander Kurdas, Mazin Hamad, Jonathan Vorndamme, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
2022 J jnl
PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications.
Frontiers Virtual Real.
Jean Elsner, Gerhard Reinerth, Luis F. C. Figueredo, Abdeldjallil Naceri, Ulrich Walter, Sami Haddadin
2022 J jnl
Passivity-Based Adaptive Force-Impedance Control for Modular Multi-Manual Object Manipulation.
IEEE Robotics Autom. Lett.
Erfan Shahriari, Seyed Ali Baradaran Birjandi, Sami Haddadin
2022 A conf
Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control.
IROS
Kübra Karacan, Hamid Sadeghian, Robin Jeanne Kirschner, Sami Haddadin
2022 A conf
Real-time IMU-Based Learning: a Classification of Contact Materials.
IROS
Carlos Magno C. O. Valle, Alexander Kurdas, Edmundo Pozo Fortunic, Saeed Abdolshah, Sami Haddadin
2022 A conf
Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers.
IROS
Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Rogerio Bonatti
2022 J jnl
Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers.
CoRR
Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Rogerio Bonatti
2022 A conf
Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space.
IROS
Jonathan Vorndamme, Luis F. C. Figueredo, Sami Haddadin
2022 A conf
Robust Cartesian Kinematics Estimation for Task-Space Control Systems.
IROS
Seyed Ali Baradaran Birjandi, Niels Dehio, Abderrahmane Kheddar, Sami Haddadin
2022 J jnl
Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study.
IEEE Robotics Autom. Lett.
Abdeldjallil Naceri, Jean Elsner, Mario Tröbinger, Hamid Sadeghian, Lars Johannsmeier, Florian Voigt, Xiao Chen, Daniela Macari, Christoph Jähne, Maximilian Berlet, Jonas Fuchtmann, Luis F. C. Figueredo, Hubertus Feußner, Dirk Wilhelm, Sami Haddadin
2022 — conf
Testing robot-based assist-as-needed therapy for improving active participation of a patient during early neurorehabilitation: a case study.
ICORR
Kim K. Peper, Dinmukhamed Zardykhan, Marion Egger, Martina Steinböck, Friedemann Müller, Xavier Hildenbrand, Alexander Koenig, Elisabeth Rose Jensen, Sami Haddadin
2022 J jnl
The Franka Emika Robot: A Reference Platform for Robotics Research and Education.
IEEE Robotics Autom. Mag.
Sami Haddadin, Sven Parusel, Lars Johannsmeier, Saskia Golz, Simon Gabl, Florian Walch, Mohamadreza Sabaghian, Christoph Jähne, Lukas Hausperger, Simon Haddadin
2022 J jnl
Towards Remote Robotic Competitions: An Internet-Connected Task Board and Dashboard.
CoRR
Peter So, Jonas Wittmann, Patrick Ruhkamp, Andriy Sarabakha, Sami Haddadin
2022 J jnl
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics.
CoRR
Johannes Ringwald, Samuel Schneider, Lingyun Chen, Dennis Knobbe, Lars Johannsmeier, Abdalla Swikir, Sami Haddadin
2021 A conf
A Dual Doctor-Patient Twin Paradigm for Transparent Remote Examination, Diagnosis, and Rehabilitation.
IROS
Mario Tröbinger, Andrei Costinescu, Hao Xing, Jean Elsner, Tingli Hu, Abdeldjallil Naceri, Luis F. C. Figueredo, Elisabeth Rose Jensen, Darius Burschka, Sami Haddadin
2021 — conf
A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities.
ISR
Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin
2021 J jnl
An Adaptive Mechatronic Exoskeleton for Force-Controlled Finger Rehabilitation.
Frontiers Robotics AI
Thomas Dickmann, Nikolas J. Wilhelm, Claudio Glowalla, Sami Haddadin, Patrick van der Smagt, Rainer Burgkart
2021 J jnl
An Adaptive Multi-Modal Control Strategy to Attenuate the Limb Position Effect in Myoelectric Pattern Recognition.
Sensors
Veronika Spieker, Amartya Ganguly, Sami Haddadin, Cristina Piazza
2021 — conf
An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control.
HUMANOIDS
Alexander Toedtheide, Johannes Kühn, Edmundo Pozo Fortunic, Sami Haddadin
2021 J jnl
COVID-19 and beyond: development of a comprehensive telemedical diagnostic framework.
Int. J. Comput. Assist. Radiol. Surg.
Jonas Fuchtmann, Roman Krumpholz, Maximilian Berlet, Daniel Ostler, Hubertus Feussner, Sami Haddadin, Dirk Wilhelm
2021 A* conf
CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems.
ICRA
Robin Jeanne Kirschner, João Jantalia, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
2021 J jnl
Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning.
IEEE Robotics Autom. Lett.
Marvin Becker, Torsten Lilge, Matthias A. Müller, Sami Haddadin
2021 A conf
Coordinated Motion Generation and Object Placement: A Reactive Planning and Landing Approach.
IROS
Riddhiman Laha, Jonathan Vorndamme, Luis F. C. Figueredo, Zheng Qu, Abdalla Swikir, Christoph Jähne, Sami Haddadin
2021 A conf
Drawing Elon Musk: A Robot Avatar for Remote Manipulation.
IROS
Lingyun Chen, Abdalla Swikir, Sami Haddadin
2021 J jnl
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction.
CoRR
Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
2021 — conf
Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066.
ISR
Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
2021 — conf
Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups.
ISR
Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin
2021 J jnl
Fast and Safe Trajectory Planning: Solving the Cobot Performance/Safety Trade-Off in Human-Robot Shared Environments.
IEEE Robotics Autom. Lett.
Alessandro Palleschi, Mazin Hamad, Saeed Abdolshah, Manolo Garabini, Sami Haddadin, Lucia Pallottino
2021 A conf
GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing.
IROS
Huy Xuan Pham, Ilker Bozcan, Andriy Sarabakha, Sami Haddadin, Erdal Kayacan
2021 J jnl
Introducing GARMI - A Service Robotics Platform to Support the Elderly at Home: Design Philosophy, System Overview and First Results.
IEEE Robotics Autom. Lett.
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, Sami Haddadin
2021 — conf
Involuntary Motion in Human-Robot Interaction: Effect of Interactive User Training on the Occurrence of Human Startle-Surprise Motion.
ISR
Robin Jeanne Kirschner, Lisa Burr, Melanie Porzenheim, Henning Mayer, Saeed Abdolshah, Sami Haddadin
2021 J jnl
Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space.
CoRR
Maximilian Ulmer, Elie Aljalbout, Sascha Schwarz, Sami Haddadin
2021 — conf
Legal and Technical Considerations on Unified, Safe and Data-Protected Haptic Telepresence in Healthcare.
ISR
Anton Reindl, Nina Rudigkeit, Martin Ebers, Mario Tröbinger, Jean Elsner, Sami Haddadin
2021 — conf
Modular ROS-based software architecture for reconfigurable, Industry 4.0 compatible robotic workcells.
ICAR
Mihael Simonic, Rok Pahic, Timotej Gaspar, Saeed Abdolshah, Sami Haddadin, Manuel G. Catalano, Florentin Wörgötter, Ales Ude
2021 A* conf
Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk.
ICRA
Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin
2021 — conf
Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066.
ISR
Robin Jeanne Kirschner, Nico Mansfeld, Guillermo Gómez Peña, Saeed Abdolshah, Sami Haddadin
2021 A* conf
RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema.
ICRA
Fernando Diaz Ledezma, Sami Haddadin
2021 A* conf
Reactive Cooperative Manipulation based on Set Primitives and Circular Fields.
ICRA
Riddhiman Laha, Luis F. C. Figueredo, Juraj Vrabel, Abdalla Swikir, Sami Haddadin
2021 A conf
Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification.
IROS
Jonathan Vorndamme, Sami Haddadin
2021 J jnl
Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach.
IEEE Robotics Autom. Lett.
Nico Mansfeld, Manuel Keppler, Sami Haddadin
2021 J jnl
SyReNets: Symbolic Residual Neural Networks.
CoRR
Carlos Magno C. O. Valle, Sami Haddadin
2021 A conf
Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking.
IROS
Robin Jeanne Kirschner, Alexander Kurdas, Kübra Karacan, Philipp Junge, Seyed Ali Baradaran Birjandi, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
2021 A* conf
ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk.
ICRA
Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin
2020 J jnl
An embedded ethics approach for AI development.
Nat. Mach. Intell.
Stuart McLennan, Amelia Fiske, Leo Anthony Celi, Ruth Müller, Jan Harder, Konstantin Ritt, Sami Haddadin, Alena Buyx
2020 A conf
Feeling the True Force in Haptic Telepresence for Flying Robots.
IROS
Alexander Moortgat-Pick, Anna Adamczyk, Teodor Tomic, Sami Haddadin
2020 J jnl
How to Make Deep RL Work in Practice.
CoRR
Nirnai Rao, Elie Aljalbout, Axel Sauer, Sami Haddadin
2020 Misc conf
Learning Vision-based Reactive Policies for Obstacle Avoidance.
CoRL
Elie Aljalbout, Ji Chen, Konstantin Ritt, Maximilian Ulmer, Sami Haddadin
2020 J jnl
Learning Vision-based Reactive Policies for Obstacle Avoidance.
CoRR
Elie Aljalbout, Ji Chen, Konstantin Ritt, Maximilian Ulmer, Sami Haddadin
2020 J jnl
Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators.
IEEE Robotics Autom. Lett.
Seyed Ali Baradaran Birjandi, Sami Haddadin
2020 Misc conf
Multi-Level Structure vs. End-to-End-Learning in High-Performance Tactile Robotic Manipulation.
CoRL
Florian Voigt, Lars Johannsmeier, Sami Haddadin
2020 J jnl
Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing.
IEEE Robotics Autom. Lett.
Seyed Ali Baradaran Birjandi, Johannes Kühn, Sami Haddadin
2020 J jnl
Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks.
IEEE Robotics Autom. Lett.
Erfan Shahriari, Lars Johannsmeier, Elisabeth Rose Jensen, Sami Haddadin
2020 J jnl
Simultaneous contact and aerodynamic force estimation (s-CAFE) for aerial robots.
Int. J. Robotics Res.
Teodor Tomic, Philipp Lutz, Korbinian Schmid, Andrew Mathers, Sami Haddadin
2019 A* conf
A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control.
ICRA
Lars Johannsmeier, Malkin Gerchow, Sami Haddadin
2019 — conf
Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-Robot Collaboration.
Humanoids
Dinmukhamed Zardykhan, Petr Svarný, Matej Hoffmann, Erfan Shahriari, Sami Haddadin
2019 A* conf
Dentronics: Review, First Concepts and Pilot Study of a New Application Domain for Collaborative Robots in Dental Assistance.
ICRA
Jasmin Grischke, Lars Johannsmeier, Lukas Eich, Sami Haddadin
2019 A conf
Energy-based Adaptive Control and Learning for Patient-Aware Rehabilitation.
IROS
Erfan Shahriari, Dinmukhamed Zardykhan, Alexander Koenig, Elisabeth Rose Jensen, Sami Haddadin
2019 A* conf
Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task.
ICRA
Nico Mansfeld, Youssef Michel, Tobias Bruckmann, Sami Haddadin
2019 A conf
Joint Velocity and Acceleration Estimation in Serial Chain Rigid Body and Flexible Joint Manipulators.
IROS
Seyed Ali Baradaran Birjandi, Johannes Kühn, Sami Haddadin
2019 J jnl
Tactile Robots as a Central Embodiment of the Tactile Internet.
Proc. IEEE
Sami Haddadin, Lars Johannsmeier, Fernando Diaz Ledezma
2019 A conf
The Role of Robot Payload in the Safety Map Framework.
IROS
Mazin Hamad, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
2019 A* conf
Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype.
ICRA
Johannes Kuehn, Johannes Ringwald, Moritz Schappler, Lars Johannsmeier, Sami Haddadin
2019 A conf
Tracking Holistic Object Representations.
BMVC
Axel Sauer, Elie Aljalbout, Sami Haddadin
2019 J jnl
Tracking Holistic Object Representations.
CoRR
Axel Sauer, Elie Aljalbout, Sami Haddadin
2018 J jnl
A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control.
CoRR
Lars Johannsmeier, Malkin Gerchow, Sami Haddadin
2018 J jnl
CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists.
IEEE Robotics Autom. Lett.
Alexander Toedtheide, Sami Haddadin
2018 — conf
Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task.
SIMPAR
Johannes Kuehn, Tingli Hu, Moritz Schappler, Sami Haddadin
2018 J jnl
Exploiting Elastic Energy Storage for "Blind" Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling.
IEEE Trans. Robotics
Sami Haddadin, Kai Krieger, Alin Albu-Schäffer, Torsten Lilge
2018 — conf
FOP Networks for Learning Humanoid Body Schema and Dynamics.
Humanoids
Fernando Diaz Ledezma, Sami Haddadin
2018 J jnl
Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification.
IEEE Trans. Robotics
Yanan Li, Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet
2018 — conf
Identification of Human Shoulder-Arm Kinematic and Muscular Synergies During Daily-Life Manipulation Tasks.
BioRob
Tingli Hu, Johannes Kuehn, Sami Haddadin
2018 A conf
Passivity Based Iterative Learning of Admittance-Coupled Dynamic Movement Primitives for Interaction with Changing Environments.
IROS
Aljaz Kramberger, Erfan Shahriari, Andrej Gams, Bojan Nemec, Ales Ude, Sami Haddadin
2018 — conf
Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands.
HRI (Companion)
Sami Haddadin, Lars Johannsmeier, Marvin Becker, Moritz Schappler, Torsten Lilge, Simon Haddadin, Johannes Schmid, Tobias Ende, Sven Parusel
2018 J jnl
Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties.
IEEE Robotics Autom. Lett.
Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin, Sami Haddadin
2018 J jnl
Simultaneous Contact and Aerodynamic Force Estimation (s-CAFE) for Aerial Robots.
CoRR
Teodor Tomic, Philipp Lutz, Korbinian Schmid, Andrew Mathers, Sami Haddadin
2018 A conf
Smooth Point-to-Point Trajectory Planning in $SE$ (3)with Self-Collision and Joint Constraints Avoidance.
IROS
Reinhard Grassmann, Lars Johannsmeier, Sami Haddadin
2018 A conf
The Art of Manipulation: Learning to Manipulate Blindly.
IROS
Sami Haddadin, Lars Johannsmeier
2018 C conf
Valve-based Virtual Energy Tanks: A Framework to Simultaneously Passify Controls and Embed Control Objectives.
ACC
Erfan Shahriari, Lars Johannsmeier, Sami Haddadin
2018 — conf
roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands.
RiE
Sami Haddadin, Lars Johannsmeier, Johannes Schmid, Tobias Ende, Sven Parusel, Simon Haddadin, Moritz Schappler, Torsten Lilge, Marvin Becker
2017 J jnl
A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes.
IEEE Robotics Autom. Lett.
Lars Johannsmeier, Sami Haddadin
2017 — conf
Adapting to contacts: Energy tanks and task energy for passivity-based dynamic movement primitives.
Humanoids
Erfan Shahriari, Aljaz Kramberger, Andrej Gams, Ales Ude, Sami Haddadin
2017 J jnl
An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts.
IEEE Robotics Autom. Lett.
Johannes Kuehn, Sami Haddadin
2017 A* conf
Collision detection, isolation and identification for humanoids.
ICRA
Jonathan Vorndamme, Moritz Schappler, Sami Haddadin
2017 J jnl
External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots.
IEEE Trans. Robotics
Teodor Tomic, Christian Ott, Sami Haddadin
2017 — conf
First-order-principles-based constructive network topologies: An application to robot inverse dynamics.
Humanoids
Fernando Diaz Ledezma, Sami Haddadin
2017 A conf
Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization.
IROS
Nico Mansfeld, Badis Djellab, Jaime Raldua Veuthey, Fabian Beck, Christian Ott, Sami Haddadin
2017 A conf
Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators.
IROS
Nico Mansfeld, Fabian Beck, Alexander Dietrich, Sami Haddadin
2017 J jnl
Passivitätsbasierte Kraft- und Impedanzregelung für Roboter mit starren Gelenken mittels Energietanks.
Autom.
Sami Haddadin
2017 J jnl
Robot Collisions: A Survey on Detection, Isolation, and Identification.
IEEE Trans. Robotics
Sami Haddadin, Alessandro De Luca, Alin Albu-Schäffer
2017 A* conf
Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint.
ICRA
Alexander Toedtheide, Erfan Shahriari, Sami Haddadin
2017 C conf
Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms.
ISRR
Teodor Tomic, Sami Haddadin
2017 C conf
Wie programmiert man die neue Robotergeneration - und wie lernt man das im Studium?
Software Engineering
Sami Haddadin
2016 J jnl
A tool for the evaluation of human lower arm injury: approach, experimental validation and application to safe robotics.
Robotica
Borut Povse, Sami Haddadin, Rico Belder, Darko Koritnik, Tadej Bajd
2016 J jnl
Antagonistic Impedance Control for Pneumatically Actuated Robot Joints.
IEEE Robotics Autom. Lett.
Alexander Toedtheide, Torsten Lilge, Sami Haddadin
2016 C conf
Maximal input limits for independent SISO control in modal space under consideration of actuator constraints.
ACC
Nico Mansfeld, Christian Ott, Sami Haddadin
2016 — ch.
Physical Human-Robot Interaction.
Springer Handbook of Robotics, 2nd Ed.
Sami Haddadin, Elizabeth A. Croft
2016 A conf
Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation.
IROS
Jonathan Vorndamme, Moritz Schappler, Alexander Toedtheide, Sami Haddadin
2016 A conf
The flying anemometer: Unified estimation of wind velocity from aerodynamic power and wrenches.
IROS
Teodor Tomic, Korbinian Schmid, Philipp Lutz, Andrew Mathers, Sami Haddadin
2015 A* conf
A comparison of braking strategies for elastic joint robots.
ICRA
Nico Mansfeld, Sami Haddadin
2015 J jnl
An assistive decision-and-control architecture for force-sensitive hand-arm systems driven by human-machine interfaces.
Int. J. Robotics Res.
Jörn Vogel, Sami Haddadin, Beata Jarosiewicz, John D. Simeral, Daniel Bacher, Leigh R. Hochberg, John P. Donoghue, Patrick van der Smagt
2015 J jnl
Collision analysis and safety evaluation using a collision model for the frontal robot-human impact.
Robotica
Jung-Jun Park, Jae-Bok Song, Sami Haddadin
2015 — conf
Modeling, identification and joint impedance control of the atlas arms.
Humanoids
Moritz Schappler, Jonathan Vorndamme, Alexander Toedtheide, David C. Conner, Oskar von Stryk, Sami Haddadin
2015 — conf
Physical Safety in Robotics.
SyDe Summer School
Sami Haddadin
2015 A conf
Robotic agents capable of natural and safe physical interaction with human co-workers.
IROS
Michael Beetz, Georg Bartels, Alin Albu-Schäffer, Ferenc Balint-Benczedi, Rico Belder, Daniel Beßler, Sami Haddadin, Alexis Maldonado, Nico Mansfeld, Thiemo Wiedemeyer, Roman Weitschat, Jan-Hendrik Worch
2015 A* conf
Simultaneous estimation of aerodynamic and contact forces in flying robots: Applications to metric wind estimation and collision detection.
ICRA
Teodor Tomic, Sami Haddadin
2015 A* conf
Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks.
ICRA
Christopher Schindlbeck, Sami Haddadin
2015 A* conf
Using tactile sensation for learning contact knowledge: Discriminate collision from physical interaction.
ICRA
Saskia Golz, Christian Osendorfer, Sami Haddadin
2014 A conf
A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots.
IROS
Teodor Tomic, Sami Haddadin
2014 J jnl
Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion.
Autom.
Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer
2014 A* conf
Collision avoidance with potential fields based on parallel processing of 3D-point cloud data on the GPU.
ICRA
Knut B. Kaldestad, Sami Haddadin, Rico Belder, Geir Hovland, David A. Anisi
2014 A* conf
Learning quadrotor maneuvers from optimal control and generalizing in real-time.
ICRA
Teodor Tomic, Moritz Maier, Sami Haddadin
2014 — conf
Optimal control of elastic joints with variable damping.
ECC
Mehmet Can Ozparpucu, Sami Haddadin
2014 A conf
Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection.
IROS
Nico Mansfeld, Sami Haddadin
2014 — book
Towards Safe Robots - Approaching Asimov's 1st Law
Sami Haddadin
2013 A* conf
A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks.
ICRA
Jonathan Bohren, Chavdar Papazov, Darius Burschka, Kai Krieger, Sven Parusel, Sami Haddadin, William L. Shepherdson, Gregory D. Hager, Louis L. Whitcomb
2013 A conf
Dynamic optimality in real-time: A learning framework for near-optimal robot motions.
IROS
Roman Weitschat, Sami Haddadin, Felix Huber, Alin Albu-Schäffer
2013 A* conf
Evaluation of human safety in the DLR Robotic Motion Simulator using a crash test dummy.
ICRA
Karan Sharma, Sami Haddadin, Sebastian Minning, Johann Heindl, Tobias Bellmann, Sven Parusel, Tim Rokahr, Alin Albu-Schäffer
2013 A conf
First analysis and experiments in aerial manipulation using fully actuated redundant robot arm.
IROS
Felix Huber, Konstantin Kondak, Kai Krieger, Dominik Sommer, Marc Schwarzbach, Maximilian Laiacker, Ingo Kossyk, Sven Parusel, Sami Haddadin, Alin Albu-Schäffer
2013 B conf
It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning.
SAFECOMP
Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schäffer
2013 C conf
Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time.
ISRR
Sami Haddadin, Roman Weitschat, Felix Huber, Mehmet Can Özparpucu, Nico Mansfeld, Alin Albu-Schäffer
2013 A conf
Optimal control for maximizing link velocity of visco-elastic joints.
IROS
Mehmet Can Ozparpucu, Sami Haddadin
2013 J jnl
Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints.
IEEE Trans. Robotics
David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar
2013 J jnl
Variable impedance actuators: A review.
Robotics Auton. Syst.
Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Oliver Eiberger, Werner Friedl, Ganesh Ganesh, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Hannes Höppner, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf
2012 A conf
A truly safely moving robot has to know what injury it may cause.
IROS
Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer
2012 A* conf
A versatile biomimetic controller for contact tooling and haptic exploration.
ICRA
Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet
2012 J jnl
Editorial.
Int. J. Robotics Res.
Sami Haddadin, Paolo Robuffo Giordano, Angelika Peer
2012 A conf
Intrinsically elastic robots: The key to human like performance.
IROS
Sami Haddadin, Felix Huber, Kai Krieger, Roman Weitschat, Alin Albu-Schäffer, Sebastian Wolf, Werner Friedl, Markus Grebenstein, Florian Petit, Jens Reinecke, Roberto Lampariello
2012 A conf
On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level.
IROS
Sami Haddadin, Kai Krieger, Nico Mansfeld, Alin Albu-Schäffer
2012 J jnl
On making robots understand safety: Embedding injury knowledge into control.
Int. J. Robotics Res.
Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer
2012 A* conf
Optimal control for exploiting the natural dynamics of Variable Stiffness robots.
ICRA
Sami Haddadin, Felix Huber, Alin Albu-Schäffer
2012 — conf
Optimal control for maximizing potential energy in a variable stiffness joint.
CDC
Sami Haddadin, Mehmet Can Ozparpucu, Alin Albu-Schäffer
2012 A conf
Optimal torque and stiffness control in compliantly actuated robots.
IROS
David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar
2012 J jnl
Rigid 3D geometry matching for grasping of known objects in cluttered scenes.
Int. J. Robotics Res.
Chavdar Papazov, Sami Haddadin, Sven Parusel, Kai Krieger, Darius Burschka
2012 A conf
Rigid vs. elastic actuation: Requirements & performance.
IROS
Sami Haddadin, Nico Mansfeld, Alin Albu-Schäffer
2012 J jnl
The hand of the DLR Hand Arm System: Designed for interaction.
Int. J. Robotics Res.
Markus Grebenstein, Maxime Chalon, Werner Friedl, Sami Haddadin, Thomas Wimböck, Gerd Hirzinger, Roland Siegwart
2012 A conf
Variable impedance actuators: Moving the robots of tomorrow.
IROS
Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Ganesh Gowrishankar, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf
2011 A conf
A human-centered approach to robot gesture based communication within collaborative working processes.
IROS
Tobias Ende, Sami Haddadin, Sven Parusel, Tilo Wüsthoff, Marc Hassenzahl, Alin Albu-Schäffer
2011 A* conf
Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions.
ICRA
Jung-Jun Park, Sami Haddadin, Jae-Bok Song, Alin Albu-Schäffer
2011 — conf
Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling.
CDC/ECC
Sami Haddadin, Kai Krieger, Alin Albu-Schäffer
2011 A conf
Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot.
IROS
Sami Haddadin, Kai Krieger, Mirko Kunze, Alin Albu-Schäffer
2011 J jnl
Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions.
IEEE Trans. Robotics
Chenguang Yang, Ganesh Gowrishankar, Sami Haddadin, Sven Parusel, Alin Albu-Schäffer, Etienne Burdet
2011 A* conf
Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot.
ICRA
Sven Parusel, Sami Haddadin, Alin Albu-Schäffer
2011 — conf
Safe acting and manipulation in human environments: A key concept for robots in our society.
ARSO
Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schäffer, Gerd Hirzinger
2011 A* conf
The DLR hand arm system.
ICRA
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 Nothhelfer, Florian Petit, Josef Reill, Nikolaus Seitz, Thomas Wimböck, Sebastian Wolf, Tilo Wüsthoff, Gerd Hirzinger
2010 — conf
Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System.
ISER
Joern Vogel, Sami Haddadin, John D. Simeral, Sergey D. Stavisky, Daniel Bacher, Leigh R. Hochberg, John P. Donoghue, Patrick van der Smagt
2010 A conf
Cooperative bin-picking with Time-of-Flight camera and impedance controlled DLR lightweight robot III.
IROS
Stefan Fuchs, Sami Haddadin, Maik Keller, Sven Parusel, Andreas Kolb, Michael Suppa
2010 A* conf
Dynamic modelling and control of variable stiffness actuators.
ICRA
Alin Albu-Schäffer, Sebastian Wolf, Oliver Eiberger, Sami Haddadin, Florian Petit, Maxime Chalon
2010 A conf
Holistic design and analysis for the human-friendly robotic co-worker.
IROS
Sami Haddadin, Sven Parusel, Rico Belder, Joern Vogel, Tim Rokahr, Alin Albu-Schäffer, Gerd Hirzinger
2010 J jnl
Konzepte für den Roboterassistenten der Zukunft (Towards the Robotic Co-Worker).
Autom.
Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger
2010 A conf
New insights concerning intrinsic joint elasticity for safety.
IROS
Sami Haddadin, Alin Albu-Schäffer, Oliver Eiberger, Gerd Hirzinger
2010 A* conf
On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint.
ICRA
Oliver Eiberger, Sami Haddadin, Michael Weis, Alin Albu-Schäffer, Gerd Hirzinger
2010 A conf
Real-time reactive motion generation based on variable attractor dynamics and shaped velocities.
IROS
Sami Haddadin, Holger Urbanek, Sven Parusel, Darius Burschka, Jürgen Roßmann, Alin Albu-Schäffer, Gerd Hirzinger
2010 J jnl
Safety Analysis for a Human-Friendly Manipulator.
Int. J. Soc. Robotics
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2010 A* conf
Soft-tissue injury in robotics.
ICRA
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2010 — conf
The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing.
ISR/ROBOTIK
Rainer Bischoff, Johannes Kurth, Günter Schreiber, Ralf Koeppe, Alin Albu-Schäffer, Alexander Beyer, Oliver Eiberger, Sami Haddadin, Andreas Stemmer, Gerhard Grunwald, Gerd Hirzinger
2010 A conf
The driver concept for the DLR lightweight robot III.
IROS
Robert Burger, Sami Haddadin, Georg Plank, Sven Parusel, Gerd Hirzinger
2009 C conf
Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance.
ISRR
Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Sebastian Wolf, Christoph Borst, Gerd Hirzinger
2009 J jnl
Kick it with elasticity: Safety and performance in human-robot soccer.
Robotics Auton. Syst.
Sami Haddadin, Tim Laue, Udo Frese, Sebastian Wolf, Alin Albu-Schäffer, Gerd Hirzinger
2009 J jnl
Requirements for Safe Robots: Measurements, Analysis and New Insights.
Int. J. Robotics Res.
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2009 A* conf
The "DLR Crash Report": Towards a standard crash-testing protocol for robot safety - Part I: Results.
ICRA
Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Jürgen Rossmann, Gerd Hirzinger
2009 A* conf
The "DLR crash report": Towards a standard crash-testing protocol for robot safety - Part II: Discussions.
ICRA
Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Jürgen Rossmann, Gerd Hirzinger
2009 C conf
Towards the Robotic Co-Worker.
ISRR
Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger
2008 A conf
Collision detection and reaction: A contribution to safe physical Human-Robot Interaction.
IROS
Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca, Gerd Hirzinger
2008 A* conf
Injury evaluation of human-robot impacts.
ICRA
Sami Haddadin, Alin Albu-Schäffer, Michael Strohmayr, Mirko Frommberger, Gerd Hirzinger
2008 J jnl
Soft robotics.
IEEE Robotics Autom. Mag.
Alin Albu-Schäffer, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimböck, Sebastian Wolf, Gerd Hirzinger
2008 A* conf
The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts.
ICRA
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2008 A* conf
The role of the robot mass and velocity in physical human-robot interaction - Part II: Constrained blunt impacts.
ICRA
Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Gerd Hirzinger
2007 A* conf
A humanoid upper body system for two-handed manipulation.
ICRA
Christoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, Ulrich Hillenbrand, Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2007 C conf
Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights.
ISRR
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2007 — conf
Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing.
Robotics: Science and Systems
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger
2007 J jnl
The DLR lightweight robot: design and control concepts for robots in human environments.
Ind. Robot
Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Gerhard Hirzinger
2006 A conf
Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm.
IROS
Alessandro De Luca, Alin Albu-Schäffer, Sami Haddadin, Gerd Hirzinger