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Logo: Institute of Automatic Control
Logo Leibniz Universität Hannover
Logo: Institute of Automatic Control
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Robotics

  • Robot control
  • Design and control of elastic robots
  • Physical human robot interaction
  • Intelligent mobile assistant systems
  • Human injury analysis
  • Motion planning
  • Multi-agent systems
  • Novel robot programming paradigms

Sensitive mechatronic robots

A considerable part of our research work is dedicated to mechatronic lightweight robots, which can be made highly compliant by using joint torque sensors for determining internally and externally acting forces. Torque capturing devices serve the same purpose as related sensors for measuring muscle tension in human tendons. They allow the robot to sensitively and safely interact with humans. The best known example is the lightweight robot from the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), which can be considered the worldwide most advanced system. This robot forms also the substructure for the well known humanoid DLR-systems Justin and Toro. Based on these experiences, systems aiming to technically interpret the human musculoskeletal system and gain unprecedented dynamical characteristics, accompanied with high energy efficiency were developped. A previous result of this research work, in which Sami Haddadin was strongly involved, is the hand-arm system HASy at the DLR.

Bio-inspired and compliant control

Central contributions in the field of bio-inspired and compliant control are, among others, the systematic fusion of force and impedance control, the development of the internationally recognized standard algorithms for model based collision detection and reflex generation for robots, as well as the design of novel bio-inspired, non-linear control for sensitive robots. The fundamental objective is to equip intelligent assistance systems such as robots with a mechanically compliant, reactive and therefore inherently safe behavior by means of intelligent programming. This allows the robot to behave completely compliant and sensitive similar to humans in spite of the stiff mechanical structure. The developed observer-based methods for collision detection, interpretation, and reaction, which are in the meantime extended for humanoid and flying systems, allow to estimate contacts with the environment or humans as external disturbances in real-time without requiring additional sensors. Moreover, the work on bio-inspired control was helpful for the exposure of principles on mechanical and controlled damping, energy storage, stiffness control and the learning of motor programs for human arm motions, as well as the technical implementation of these principles in complex robot systems. As an example, a controller based on this knowledge allows for the first time a dynamical and stable adaption of the muscle tension of a robot, enabling it to sensitively interact with and manipulate the environment accompanied with improving by self-learning.

Safe pHRI and injury analysis

A central focus of our research lies in the domain of physical human-robot-interaction (pHRI). Its sub-domain "injury biomechanics and safety in robotics" is tightly connected to the medical areas injury biomechanics, forensics, and accident research. The biomechanical analysis and quantification of potential human injuries in pHRI aims towards a systematic biomechanical insight of the risk of injury that originates from a robot. This helps to establish a fundamentally new point of view on the relation between human and robot, which allows to quantify, model and therefore handle existing risks. Our work gave for the first time fundamental and unifying insights into the causal relation between robot design parameters and robot state on the one hand, and related degree of injury of humans in case of an unwanted collision on the other hand. In order to achieve this objective, numerous novel collision experiments and simulations, which are also of great value for trauma medicine and research, were processed, leading to to a more profound understanding on injury biomechanics of humans. Moreover, the gained knowledge could be used to equip robots with the ability to perform motions in a way that is always safe for humans and efficient at the same time.

 

 

Publications


Submitted

Ali Baradaran, Torsten Lilge & Sami Haddadin (2018): Joint Velocity and Acceleration Estimation in Rigid Body Manipulators Using Accelerometers, Submitted to the 57th IEEE Conference on Decision and Control

Haddadin, Sami (2018): Passivity-Based Force/Impedance Control, Submitted to IEEE Transactions on Robotics

Shahriari, Erfan; Johannsmeier, Lars & Haddadin, Sami (2018): Nozzle-based Virtual Energy Tanks: A Framework to Simultaneously Passify Controls and Embed Control Objectives, Submitted to 2018 American Control Conference

Books

Haddadin, S. (2014): Towards Safe Robots: Approaching Asimov's 1st Law, Springer Publishing Company, Incorporated.
DOI: 10.1007/978-3-642-40308-8

BibTeX

Höhn, O. (2008): Erkennung, Klassifikation und Vermeidung von Stürzen zweibeiniger Roboter, Norderstedt, Books On Demand. Dissertation, Leibniz Universität Hannover. more

BibTeX

Heimann, B., Gerth, W. & Popp, K. (2007): Mechatronik, Komponenten - Methoden - Beispiele, 3. Ed., Leipzig, Hanser Fachbuchverlag. ISBN-10: 3-446-40599-2. more

BibTeX

Hofschulte, J. (2006): Zweibeiniger Roboter mit parallelkinematischen Hüftgelenken, Norderstedt, Books On Demand GmbH. Dissertation, Leibniz Universität Hannover. more

BibTeX

Albert, A. (2002): Intelligente Bahnplanung und Regelung für einen autonomen, zweibeinigen Roboter, VDI-Fortschrittberichte, no. 927 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

BibTeX

Heimann, B., Gerth, W. & Popp, K. (2001): Mechatronik, Komponenten - Methoden - Beispiele, 2. ed., München, Fachbuchverlag Leipzig im Carl Hanser Verlag.

BibTeX

Heimann, B., Gerth, W. & Popp, K. (1998): Mechatronik, Komponenten - Methoden - Beispiele, München, Fachbuchverlag Leipzig im Carl Hanser Verlag.

BibTeX

Book Chapter

Haddadin, S., Croft, E. (2016): Physical Human-Robot Interaction, Springer Handbook of Robotics, Springer International Publishing, pages 1835-1874
DOI: 10.1007/978-3-319-32552-1_69

BibTeX

Haddadin, S., Weitschat, R., Huber, F., Özparpucu, M. C., Mansfeld, N., Albu-Schäffer, A. (2016): Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time, Inaba, M., Corke, P. (Eds.): Robotics Research: The 16th International Symposium ISRR, Springer International Publishing, 131-148
DOI: 10.1007/978-3-319-28872-7_8

Haddadin, S. (2015): Physical Safety in Robotics, In Drechsler, R., Kühne, U. (Eds.): Formal Modeling and Verification of Cyber-Physical Systems, pp. 249-271, Springer Lecture Notes in Computer Science, to be published
DOI: 10.1007/978-3-658-09994-7_9

Haddadin, S. (2015): Optimal Exploitation of Soft-Robot Dynamics, Verl, A. and Albu-Schäffer, A. and Brock, O. and Raatz, A. (eds): Soft Robotics - Transferring Theory to Application. Springer Vieweg more
DOI: 10.1007/978-3-662-44506-8_9

Michaels, A., Albert, A., Baumann, M., Weiss, U., Biber, P., Kielhorn, A. & Trautz, D. (2012): Approach towards robotic mechanical weed regulation in organic farming, In Levi, P., Zweigle, O., Häußermann, K. & Eckstein, B. (Ed.): Autonomous Mobile Systems 2012, Informatik aktuell, Sep 26-28, Berlin Heidelberg, Springer, pp. 173-181.
DOI: 10.1007/978-3-642-32217-4_19

BibTeX

Albert, A., Gerth, W. & Lilge, T. (2007): Stabilisierung einer zweibeinigen Laufmaschine, In B. Heimann, W. Gerth & K. Popp: Mechatronik, Komponenten - Methoden - Beispiele, 3. ed., Leipzig, Hanser Fachbuchverlag, pp. 320-332. more

BibTeX

Journals

Haddadin, Sami and Krieger, Kai and Albu-Schäffer, Alin and Lilge, Torsten (2018): Exploiting Elastic Energy Storage for “Blind” Cyclic Manipulation: Modeling, Stability Analysis, Control and Experiments for Dribbling, IEEE Transactions on Robotics, Volume: 34, Issue: 1, Feb. 2018, 91-112
DOI: 10.1109/TRO.2017.2765684

Li, Y. and Ganesh, G.; Jarrasse, N.; Haddadin, S.; Albu-Schäffer, A. & Burdet, E. (2018): Force, Impedance and Trajectory Learning for Contact Tooling and Haptic Identification, Accepted for IEEE Transactions on Robotics

Mansfeld, Nico; Hamad, Mazin; Becker, Marvin; Gonzales Marin; Antonio & Haddadin, Sami (2018): Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties, IEEE Robotics and Automation Letters, vol. 3, no. 3, pages 1880-1887
DOI: 10.1109/LRA.2018.2801477

Haddadin, Sami (2017): Passivitätsbasierte Kraft- und Impedanzregelung für Roboter mit starren Gelenken mittels Energietanks, at - Automatisierungstechnik, vol. 65, pp. 124-133
DOI: 10.1515/auto-2016-0108

Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin (2017): Robot Collisions: A Survey on Detection, Isolation, and Identification, IEEE Transactions on Robotics, 33(6), 1292-1312
DOI: 10.1109/TRO.2017.2723903

Tomic, Teodor and Ott, Christian and Haddadin, Sami (2017): External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots, IEEE Transactions on Robotics, 33(6), 1467-1482
DOI: 10.1109/TRO.2017.2750703

Tödtheide, A., Lilge, T., Haddadin, S.  (2016): Antagonistic Impedance Control for Pneumatically Actuated Robot Joints , Robotics and Automation Letters, IEEE, vol. 1, no. 1, pp. 161-168  | file |
DOI: 10.1109/LRA.2015.2511663

Povse, B.; Haddadin, S.; Belder, R.; Koritnik, D. & Bajd, T. (2015): A Tool for Evaluation of Human Lower Arm Injury: Approach, Experimental Validation and Application to Safe Robotics, Robotica
DOI: 10.1017/S0263574715000156

Vogel, J., Haddadin, S., Jarosiewicz, B., Simeral, J.D., Bacher, D., Hochberg, L.R., Donoghue, J.P., van der Smagt, P. (2015): An Assistive Decision and Control Architecture for Force-Sensitive Hand-Arm Systems driven via Human-Machine Interfaces, The International Journal of Robotics Research, vol. 34 no. 6, 763-780
DOI: 10.1177/0278364914561535

BibTeX

Haddadin, S., Haddadin, S., Khoury, A., Rokahr, T., Parusel, S., Burgkart, R., Bicchi, A. & Albu-Schäffer, A. (2014): Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion, at - Automatisierungstechnik, vol. 62, pp. 175-187.
DOI: 10.1515/auto-2012-0236

BibTeX

Park, J.-J., Song, J.-B. & Haddadin, S. (2014): Collision analysis and safety evaluation using a collision model for the frontal robot-human impact, Robotica, vol. 32.
DOI: 10.1017/S0263574714000137

BibTeX

Höhn, O. & Gerth, W. (2009): Probabilistic Balance Monitoring for Bipedal Robots, The International Journal of Robotics Research, vol. 28, no. 2, Feb, pp. 245-256.
DOI: 10.1177/0278364908095170

BibTeX

Albert, A. & Gerth, W. (2003): Bewegungsalgorithmen für zweibeinige Roboter ohne Oberkörper, at -- Automatisierungstechnik, vol. 51, no. 1, pp. 13-21.
DOI: 10.1524/auto.51.1.13.18873

BibTeX

Albert, A. & Gerth, W. (2003): Analytic Path Planning Algorithms for Bipedal Robots Without a Trunk, Journal of Intelligent and Robotic Systems, vol. 36, no. 2, Feb., pp. 109-127.
DOI: 10.1023/A:1022600522613

BibTeX

Albert, A., Gerecke, M., Gerth, W., Hofschulte, J., Lilge, T. & Strasser, R. (2003): Investigation of Bipedal Walking for Autonomous Service Robots, SPIE - Robotics and Machine Perception Newsletter, vol. 12, no. 1, March, pp. 11-12.

BibTeX

Strasser, R. & Seebode, M. (2003): Inertial Measureing Unit Based on Low-Cost Sensors, TNT -- Tips & Trends, no. 3, SASCO, pp. 31-33.

BibTeX

Albert, A. & Hofschulte, J. (2000): Trajektorienplanung für Bewegungen eines autonomen, zweibeinigen Roboters im menschlichen Lebensraum, at -- Automatisierungstechnik, vol. 48, no. 6, pp. 296-304.
DOI: doi:10.1524/auto.2000.48.6.296

BibTeX

Scherm, N. & Heimann, B. (2000): Dynamics and control of underactuated manipulation systems: A discrete-time approach, Robotics and Autonomous Systems, vol. 30, no. 3, pp. 237-248.
DOI: 10.1016/S0921-8890(99)00089-5

BibTeX

Conference Papers

Haddadin, Sami; Johannsmeier, Lars; Schmid, Johannes; Ende, Tobias; Parusel, Sven; Haddadin, Simon; Schappler, Moritz; Lilge, Torsten & Becker, Marvin (2018): Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands, 9th International Conference on Robotics in Education

Kühn, Johannes; Hu, Tingli; Schappler, Moritz & Haddadin, Sami (2018): Dynamics Simulation for an Upper-Limb Human-Exoskeleton Assistance System in a Latent-Space Controlled Tool Manipulation Task, IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)

Diaz Ledezma, Fernando & Haddadin, Sami (2017): First-Order-Principles-Based Constructive Network Topologies: An Application to Robot Inverse Dynamics, IEEE RAS International Conference on Humanoid Robots, Birmingham, UK

Mansfeld, Nico; Beck, Fabian; Dietrich, Alexander & Haddadin, Sami (2017): Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant Manipulators, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Mansfeld, Nico; Djellab, Badis; Raldua Veuthey, Jaime; Beck, Fabian; Ott, Christian & Haddadin, Sami (2017): Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Shahriari, Erfan; Kramberger, Aljaž; Gams, Andrej; Ude, Aleš a & Haddadin, Sami (2017): Safely Adapting to Contacts: Energy Tanks and Task Energy for Passivity-Based Dynamic Movement Primitives, IEEE RAS International Conference on Humanoid Robots (Humanoids), Birmingham, UK

Tödtheide, A., Shahriari, E., Haddadin, S. (2017): Tank Based Unified Torque Impedance Control for an Antagonistic and Pneumatically Actuated Robot Joint, Robotics and Automation (ICRA), 2017 IEEE International Conference on  | file |
DOI: 10.1109/ICRA.2017.7989149

Tomic, Teodor and Haddadin, Sami (2017): Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms, International Symposium on Robotics Research (ISRR2017), Puerto Varas, Chile

Vorndamme, J., Schappler, M., and Haddadin, S. (2017): Collision Detection, Isolation and Identification for Humanoids, Robotics and Automation (ICRA), 2017 IEEE International Conference on  | file |
DOI: 10.1109/ICRA.2017.7989552

Mansfeld, N., Ott, C., Haddadin, S. (2016): Maximal input limits for independent SISO control in modal space under consideration of actuator constraints, 2016 American Control Conference (ACC), pp. 6721-6728
DOI: 10.1109/ACC.2016.7526730

Vorndamme, J., Schappler, M., Tödtheide, A., and Haddadin, S. (2016): Soft Robotics for the Hydraulic Atlas Arms: Joint Impedance Control with Collision Detection and Disturbance Compensation, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)  | file | more
DOI: 10.1109/IROS.2016.7759517

Beetz, M., Bartels, G., Albu-Schäffer, A., Bálint-Benczédi, F. Belder, R., Beßler, D., Haddadin, S., Maldonado, S. Mansfeld, N., Wiedemeyer, T., Weitschat, R., Worch, J. H. (2015): Robotic agents capable of natural and safe physical interaction with human co-workers, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 6528-6535
DOI: 10.1109/IROS.2015.7354310

Golz, S., Osendorfer, Ch. & Haddadin, S. (2015): Using tactile sensation for learning contact knowledge: Discrimination collision from physical interaction, Accepted at: 2015 IEEE International Conference on Robotics and Automation
DOI: 10.1109/ICRA.2015.7139726

BibTeX

Mansfeld, N., & Haddadin, S. (2015): A Comparison of Braking Strategies for Elastic Joint Robots, Accepted at: 2015 IEEE International Conference on Robotics and Automation
DOI: 10.1109/ICRA.2015.7139268

BibTeX

Schappler, M. and Vorndamme, J. and Tödtheide, A. and Conner, D.C. and von Stryk, O. and Haddadin, S. (2015): Modeling, Identification and Joint Impedance Control of the Atlas Arms, 15th IEEE-RAS International Conference on Humanoid Robots (2015) more
DOI: 10.1109/HUMANOIDS.2015.7363499

Schindlbeck, Ch. & Haddadin, S. (2015): Unified Passivity-Based Cartesian Force/Impedance Control for Rigid and Flexible Joint Robots via Task-Energy Tanks, Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp. 440-447
DOI: 10.1109/ICRA.2015.7139036

BibTeX

Tomic,T. & Haddadin, S. (2015): Simultaneous Estimation of Aerodynamic and Contact Forces in Flying Robots: Applications to Metric Wind Estimation and Collision Detection, Accepted at: 2015 IEEE International Conference on Robotics and Automation
DOI: 10.1109/ICRA.2015.7139937

BibTeX

Kaldestad, K. B., Haddadin, S., Belder, R., Hovland, G. & Anisi, D. A. (2014): Collision Avoidance with Potential Fields Based on Parallel Processing of 3D-Point Cloud Data on the GPU, International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31 - June 7, pp. 3250-3257
DOI: 10.1109/ICRA.2014.6907326

BibTeX

Nico Mansfeld & Sami Haddadin (2014): Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3904-3911
DOI: 10.1109/IROS.2014.6943111

BibTeX

Özparpucu, C. M., Haddadin, S. & Albu-Schäffer, A. (2014): Optimal Contol of Variable Stiffness Actuators with Nonlinear Springs, 19th IFAC World Congress, Cape Town, South Africa, pages 8487-8495 more
DOI: 10.3182/20140824-6-ZA-1003.01193

BibTeX

Özparpucu, M. & Haddadin, S. (2014): Optimal Control of Elastic Joints with Variable Damping, European Control Conference (EEC), June24-27, pp. 2526-2533
DOI: 10.1109/ECC.2014.6862266

BibTeX

Teodor Tomic & Sami Haddadin (2014): A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.
DOI: 10.1109/IROS.2014.6943154

BibTeX

Albert, A., Vorndamme, J., Petereit, S. & Lilge, T. (2012): Automatisierte Aufnahme einer 3D-Raumkarte mit Unterputzdaten, Automation 2012, VDI-Berichte, no. 2171, Jun 13-14, Baden-Baden, VDI Verlag GmbH, Düsseldorf, pp. 321-324. more

BibTeX

Vorndamme, J., Petereit, S., Pitzer, B., Roan, P., Lilge, T. & Albert, A. (2012): Robotic System for Mapping 3D in-wall Information for Craftsmen, Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012), May 21-22, Munich, Germany, VDE Verlag, Berlin, pp. 24-29. CD-ROM. more

BibTeX

Pietsch, B. & Gerth, W. (2009): Real-Time Resource Management for Service Robots, Proceedings of the Work-In-Progress Session of the 21st Euromicro Conference on Real-Time Systems, Jul 1-3.

BibTeX

Resetov, D., Pietsch, B. & Gerth, W. (2009): Aufbau des humanoiden Roboters BART III, In Dillmann, R., Beyerer, J., Stiller, C., Zöllner, M. & Gindele, T. (Ed.): Autonome Mobile Systeme 2009, Informatik aktuell, 3-4 Dez., Karlsruhe, Springer Verlag Berlin Heidelberg, pp. 209-216.
DOI: 10.1007/978-3-642-10284-4_27

BibTeX

Höhn, O. & Gerth, W. (2008): Wahrscheinlichkeitsbasierte Sturzklassifikation von zweibeinigen Robotern, 42. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 39-40. more

BibTeX

Lilge, T., Gerth, W. & Goronczy, A. (2007): Zur Selbstlokalisierung mobiler Systeme bei fehlenden absoluten Referenzen, In Berns, K. & Luksch, T. (Ed.): Autonome Mobile Systeme 2007, Informatik aktuell, 18 - 19 Okt., Kaiserslautern, Springer Verlag Berlin Heidelberg, pp. 43-49.
DOI: 10.1007/978-3-540-74764-2_7

BibTeX

Seebode, M. & Gerth, W. (2007): Echtzeitsystem für einen zweibeinigen Roboter mit adaptiver Bahnplanung, In Holleczek, P. & Vogel-Heuser, B. (Ed.): Mobilität und Echtzeit. PEARL 2007, Informatik aktuell, 06.-07. Dez., Berlin Heidelberg, Springer, pp. 88-97.
DOI: 10.1007/978-3-540-74837-3_10

BibTeX

Höhn, O. (2006): Probability based State Monitoring System for Bipedal Robots, French-German Workshop on Humanoid and Legged Robots (HLR'06), Sep 25-26, Karlsruhe, Deutschland.

BibTeX

Höhn, O. & Gerth, W. (2006): Probabilistic Balance Monitoring for Bipedal Robots, Proceedings of the 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2006), Sep 11-14, Brussels, Belgium, pp. 435-442.
DOI: 10.1177/0278364908095170

BibTeX

Albert, A., Pietsch, B. & Voetz, F. (2005): Simulation Environment for Investigating the Impacts of Time-Triggered Communication on a Distributed Vehicle Dynamics Control System, Proceedings of the 1st International ECRTS Workshop on Real-Time and Control (RTC 2005), Jul 6-8, Palma de Mallorca, Spanien, pp. 105-110. more

BibTeX

Höhn, O., Gacnik, J. & Gerth, W. (2005): Detection and Classification of Posture Instabilities of Bipedal Robots, Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005), Sep 13-15, London, England, pp. 409-416.
DOI: 10.1007/3-540-26415-9_49

BibTeX

Seebode, M., Strasser, R., Lilge, T. & Gerth, W. (2005): Datenfusion in einem künstlichen Gleichgewichtsorgan für autonome Roboter, 39. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 14-15. (Nicht veröffentlicht). more

BibTeX

Hofschulte, J., Gerth, W. & Seebode, M. (2004): Parallel Manipulator Hip Joint for a Bipedal Robot, In Armada, M. & de Santos, P. G.. (Ed.): Proceedings of the 7th International Conference on Climbing and Walking Robots - CLAWAR 2004, Berlin-Heidelberg, Springer, pp. 601-609.
DOI: 10.1007/3-540-29461-9_60

BibTeX

Höhn, O. (2004): Robotic Projects at the Institute of Automatic Control IRT - University of Hannover, Proceedings of the French-German Workshop on Humanoid and Legged Robots (HLR), Okt 14-15, Metz, Frankreich, pp. 27-41.

BibTeX

Höhn, O., Schollmeyer, M. & Gerth, W. (2004): Sturzvermeidung von zweibeinigen Robotern durch reflexartige Reaktionen, In Holleczek, P. & Vogel-Heuser, B. (Ed.): Eingebettete Systeme. PEARL 2004, Informatik aktuell, Berlin Heidelberg, Springer, pp. 60-69. more
DOI: 10.1007/978-3-642-18594-6_7

BibTeX

Gerecke, M., Hofschulte, J. & Gerth, W. (2003): Realization of a Lightweight Sensory Foot for a Bipedal Robot, In Muscato, G. & Longo, D. (Ed.): Proceedings of the 6th International Conference on Climbing Adn Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2003), Sep 17--79, Bury St. Edmunds and London, Professionell Engineering Publishing, pp. 895-902.

BibTeX

Strasser, R., Seebode, M. & Gerth, W. (2003): A Very Small Low Cost Inertial Measurement Unit (IMU) for Robotic Applications, In Sorg, H. (Ed.): Symposium GYRO Technology 2003, Stuttgart, pp. 18.0-18.9.

BibTeX

Strasser, R., Seebode, M., Albert, A. & Gerth, W. (2003): Extrem kompaktes SoC-Konzept eines Gleichgewichtsorganes für einen Laufroboter, In Holleczek, P. & Vogel-Heuser, B. (Ed.): Verteilte Echtzeitsysteme. PEARL 2003, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 49-58. more
DOI: 10.1007/978-3-642-55617-3_7

BibTeX

Albert, A. (2002): Dynamisch stabiles Gehen für eine autonome, zweibeinige Laufmaschine, 36. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 40-41. (Nicht veröffentlicht). more

BibTeX

Gerecke, M., Albert, A. & Gerth, W. (2002): Vision Guided Biped Walking -- Trajectories and Communication, In Bidaud, P. & Amar, F. B. (Ed.): Proceedings of the Fifth International Conference on Climbing and Walking Robots and their Supporting Technologies (CLAWAR 2002), September, Paris, Frankreich, pp. 155-162.

BibTeX

Gerecke, M., Albert, A., Hofschulte, J., Strasser, R. & Gerth, W. (2002): Towards an Autonomous, Bipedal Service Robot, Tagungsband 10 Jahre Fraunhofer IFF, 24.-28. Juni, Juni, Magdeburg, pp. 163-168.

BibTeX

Lorch, O., Albert, A., Denk, J., Gerecke, M., Cupec, R., Seara, C. F., Gerth, W. & Schmidt, G. (2002): Experiments in Vision-Guided Biped Walking, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS 2002), Oktober, Lausanne, Schweiz, pp. 2484-2490.
DOI: 10.1109/IRDS.2002.1041642

BibTeX

Albert, A. & Gerth, W. (2001): New Path Planning Algorithms for Higher Gait Stability of a Bipedal Robot, 4th International Conference on Climbing and Walking Robots, CLAWAR2001, pp. 521-528.

BibTeX

Albert, A. & Lilge, T. (2001): Comparative Study of Three Nonlinear Discrete-Time Observer Designs for the Control of a Bipedal Robot, 4th International Conference on Climbing and Walking Robots, CLAWAR2001, pp. 851-858.

BibTeX

Albert, A., Suppa, M. & Gerth, W. (2001): Detection of Stair Dimensions for the Path Planning of a Bipedal Robot, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, 8-12 July, Como, Italy, IEEE, pp. 1291-1296.
DOI: 10.1109/AIM.2001.936909

BibTeX

Hofschulte, J. & Gerth, W. (2001): Objektorientiertes Programmieren unter PEARL90 bei einem Roboterprojekt, In Holleczek, P. (Ed.): PEARL 2001 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 97-106.

BibTeX

Wolter, B., Albert, A. & Gerth, W. (2001): User-Expandable, On-The-Chip Real-Time Operating System for High Performance Embedded Mechatronic Systems, 1st IFAC International Conference on Information Technology in Mechatronics, ITM 2001, October, Istanbul, Turkey, pp. 255-261.

BibTeX

Albert, A. (2000): Climbing of Stairs of an Autonomous, Bipedal Robot, Preprints of the 1st IFAC Conference on Mechatronic Systems, MECHATRONICS 2000 Darmstadt, vol. 2, September, Darmstadt, pp. 647 - 652.

BibTeX

Albert, A., Hofschulte, J. & Schermeier, O. (2000): Entwicklung des zweibeinigen autonomen Laufroboters BARt-UH, VDI Berichte 1552: ROBOTIK 2000, Juni, Berlin, pp. 509-514.

BibTeX

Scherm, N. (2000): Nichtlineare zeitdiskrete Regelung eines unteraktuierten Manipulators, 34. Regelungstechnisches Kolloquium -- Kurzfassung der Beiträge, Feb., Boppard, pp. 60-61. (Nicht veröffentlicht). more

BibTeX

Albert, A., Gerth, W., Hofschulte, J. & Schermeier, O. (1999): Echtzeitsystem für einen zweibeinigen Roboter, In Holleczek, P. (Ed.): PEARL 99 - Workshop über Realzeitsysteme, Informatik aktuell, Berlin Heidelberg, Springer-Verlag, pp. 69-78.
DOI: 10.1007/978-3-642-59704-6_8

BibTeX

Workshop Papers

Tödtheide, A., Kühn, J., and Haddadin, S. (2017): Proprio- and Exteroceptive Reflexes for a Pneumatically Actuated Finger based on the artificial Robot Nervous System, ICRA 2017 all-day workshop on "The robotic sense of touch: from sensing to understanding" on 29 May 2017  | file |

Vorndamme, J., Schappler, M. and Haddadin, S. (2017): Collision Handling for Humanoids using Proprioceptive Sensing, IEEE International Conference on Robotics and Automation (ICRA), Workshop: The Robotic Sense of Touch: From Sensing to Understanding, Singapur, May 2017.  | file |

Haddadin, Sami (2016): Demokratisierung der digitalisierten Automation: Der vernetzte, feinfühlige und lernfähige Roboter für Jedermann, VDI-Wissensforum more

Conner, D.C. and Kohlbrecher, S and Romay, A and Stumpf, A and Maniatopoulos, S and Schappler, M and Waxler, B (2015): Team ViGIR DARPA Final Report (Accession Number ADA623035), Defense Technical Information Center Document more

Haddadin, Sami (2015): Robots for Humans, 2015 German American Frontiers of Engineering, GAFOE 2015 of National Academy of Engineering of the National Academies & Alexander von Humboldt Foundation

Kuehn, Johannes and Haddadin, Sami (2015): Pain Reflexes For Robots To Evade Noxious Contact Events, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015. more

Vorndamme, Jonathan and Schappler, Moritz and Tödtheide, Alexander and Haddadin, Sami (2015): Collision Detection with a Hydraulically Actuated Robot Arm, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015 more

Haddadin, S. (2014): Dynamic and Safe Motion Planning for Human Environments, IROS 2014 Workshop: Real-time Motion Generation & Control – Constraint-based Robot Programming

Mansfeld, Nico and Ozparpucu, Mehmet Can and Haddadin, Sami (2014): Braking elastic joint robots in near-minimum time, 7th International Workshop on Human-Friendly Robotics

Video Publications

Haddadin, Sami; Johannsmeier, Lars; Becker, Marvin; Schmid, Johannes; Ende, Tobias; Parusel, Sven; Schappler, Moritz & Lilge, Torsten (2018): Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands (Video), Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, p. 375
DOI: 10.1145/3173386.3177534

Sven Parusel, Hannes Widmoser, Saskia Golz, Tobias Ende, Nico Blodow, Matteo Saveriano, Kai Krieger, Alexis Maldonado, Ingo Kresse, Roman Weitschat, Dongheui Lee, Michael Beetz & Sami Haddadin (2014): Human-Robot interaction Planning, AAAI 2014 Video Competition.

BibTeX, Video