Logo Leibniz Universität Hannover
Logo: Institut für Regelungstechnik /Leibniz Universität Hannover
Logo Leibniz Universität Hannover
Logo: Institut für Regelungstechnik /Leibniz Universität Hannover
  • Zielgruppen
  • Suche
 

Robotik

  • Roboterregelung
  • Entwurf Elastischer Roboter
  • Physikalische Mensch-Roboter Interaktion
  • Intelligente mobile Assistenzsysteme
  • Verletzungsbiomechanik des Menschen
  • Bewegungsplanung
  • Multi-Agentensysteme
  • Neuartige Programmier-Paradigmen für Roboter

Feinfühlige und mechatronische Roboter

Ein wichtiger Teil der Forschungsarbeiten am IRT dient der Entwicklung von mechatronischen Ultraleichtbaurobotern, die sich mit Hilfe von  Gelenkdrehmomentsensorik zur Erfassung intern wie extern wirkender Kräfte sehr nachgiebig verhalten können. Drehmomenterfassung dient dem selben Zweck, wie die entsprechenden Sensoren zur Messung von Muskelspannung in den Sehnen des Menschen. Somit erlauben sie dem Roboter eine feinfühlige und sichere Interaktion mit der Umgebung oder dem Menschen. Das bekannteste Beispiel ist der am Robotik und Mechatronik-Zentrum des DLR entwickelte Leichtbauroboter, der bis heute als das weltweit fortschrittlichste System gilt. Dieses war auch Grundlage der bekannten humanoiden DLR-Systeme Justin und Toro. Basierend auf diesen Entwicklungen hat sich das Forschungsteam auch mit der Entwicklung von Systemen beschäftigt, deren Ziel es ist, durch eine technische Interpretation des menschlichen muskuloskeletalen Systems Roboter mit nie dagewesenen dynamischen Fähigkeiten bei gleichzeitiger Energieeffizienz auszustatten. Ein früheres Resultat dieser Forschungstätigkeit war das DLR Hand-Arm System HASy.

Bio-inspirierte und nachgiebige Regelung

Zentrale Beiträge auf dem Gebiet der Bio-inspirierte und nachgiebigen Regelung sind u.a. die systematische Fusionierung von Kraft- und Impedanzregelung, die Entwicklung der international anerkannten Standardalgorithmen zur modellbasierten Kollisionsdetektion und -reflexreaktion für Roboter, sowie der Entwurf neuartiger bioinspirierter, nichtlinearer Regelungen für feinfühlige Roboter. Grundlegendes Ziel der Arbeiten ist es intelligenten Assistenzsystemen wie z.B. Robotern ein mechanisch nachgiebiges, reaktives und somit inhärent sicheres Verhalten durch intelligente Programmierung aufzuerlegen. Dies erlaubt es der Maschine sich trotz normalerweise starrer mechanischer Struktur komplett nachgiebig und feinfühlig wie ein Mensch verhalten zu können. Die entwickelten beobachterbasierten Methoden zur Kollisionsdetektion, -interpretation und -reaktion, die mittlerweile auch auf Humanoide und fliegende Systeme (MAVs, Hubschrauber) erweitert wurden, erlauben es ohne Einsatz zusätzlicher Sensoren Kontakte mit der Umgebung, dem Menschen oder sogar Winde als externe Störungen exakt in Realzeit zu schätzen. Überdies dienen unsere Arbeiten zur bio-inspirierten Regelung der Aufdeckung von Prinzipien zur mechanischen und geregelten Dämpfung, Energiezwischenspeicherung, Steifigkeitsregelung und dem Erlernen von Motorprogrammen bei menschlichen Armbewegungen, sowie die technische Umsetzung der entdeckten Prinzipien in komplexen Robotersystemen. Zum Beispiel erlaubt ein von diesen Erkenntnissen abgeleiteter Regler nun auch erstmals die dynamische und doch stabile Adaption der ‘Muskelspannung eines Roboters, so dass er in der Lage ist ähnlich dem Menschen feinfühlig lernend mit der Umgebung zu interagieren und sie zu manipulieren.

Verletzungsbiomechanik und Sichere Mensch-Roboter-Interaktion in der Robotik

Ein zentraler Schwerpunkt unserer Forschungstätigkeit ist die Mensch-Roboter-Interaktion sowie -kollaboration (MRI und MRK), deren Teilgebiet "Verletzungsbiomechanik und Sicherheit in der Robotik" eng mit den medizinischen Gebieten der Verletzungsbiomechanik, Forensik und Unfallforschung verknüpft ist. Die biomechanische Analyse und Quantifizierung potentieller menschlicher Verletzungen in der MRI/MRK zielt auf ein systematisches biomechanisches Verständnis der von einem Roboter ausgehenden Verletzungsgefahren ab. Dadurch wird eine grundlegend neue Sichtweise auf die Beziehung zwischen Mensch und Roboter gewonnen, die mögliche Gefährdungen messbar, modellierbar und damit wiederum prozessierbar macht. Unsere Arbeiten gaben erstmals fundamentale und vereinheitlichende Einsichten in die kausalen Beziehungen von Roboterentwurfsparametern und -zustand und entsprechendem Verletzungsgrad des Menschen im Fall einer unvorhergesehenen Kollision. Zu diesem Zweck wurden zahlreiche auch für die Unfallmedizin und -forschung neuartige Kollisionsexperimente und -simulationen durchgeführt, welche ein tiefer gehendes Verständnis über die Verletzungsmechanismen beim Menschen erlauben. Außerdem konnten hierdurch Roboter mit der Fähigkeit ausgestattet werden, Bewegungen so auszuführen, dass sie stets ungefährlich für den Menschen, jedoch gleichzeitig wirtschaftlich sind.

 

 

Publikationen


Eingereicht

Grassmann, Reinhard; Johannsmeier, Lars & Haddadin, Sami (2018): Smooth point-to-point Trajectory Planning in SE(3) with Self-Collision and Constraints Avoidance, Submitted to 2018 IEEE International Conference on Robotics and Automation (ICRA)

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), Submitted to the 13th Annual ACM/IEEE International Conference on Human Robot Interaction

Kramberger, Aljaž; Shahriari, Erfan; Gams, Andrej; Nemec, Bojan; Ude, Aleš & Haddadin, Sami (2018): Passivity Based Iterative Learning of Coupled Motion Primitives for Interaction with the Environment, Submitted to 2018 IEEE International Conference on Robotics and Automation (ICRA)

Kuehn, Johannes; Ringwald, Johannes; Schappler, Moritz; Johannsmeier, Lars & Haddadin, Sami (2018): Towards a Soft-Robotics and Perception Enabled Exoprosthesis: Design, Control and First Experiments, Submitted to 2018 IEEE International Conference on Robotics and Automation (ICRA)

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, Submitted to IEEE Robotics and Automation Letters

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

Tödtheide, Alexander & Haddadin, Sami (2018): Antagonistic Impedance Control for a Pneumatically Actuated and Tendon Driven Wrist, Submitted to 2018 IEEE International Conference on Robotics and Automation (ICRA)

Haddadin, Sami (2017): Passivity-Based Force/Impedance Control, Submitted to IEEE Transactions on Robotics

Bücher

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

BibTeX

Haddadin, S. (2011): Towards safe robots : approaching Asimov's 1st law, PhD-Thesis RWTH-Aachen, weitere Informationen

BibTeX

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

BibTeX

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

BibTeX

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

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

Buchkapitel

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 weitere Informationen
DOI: 10.1007/978-3-662-44506-8_9

Vogel, J., Haddadin, S., Simeral, J., Stavisky, S., Bacher, D., Hochberg, L., Donoghue, J. & Smagt, P. (2014): Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System, In Khatib, O., Kumar, V. & Sukhatme, G. (Ed.): Experimental Robotics, Springer Tracts in Advanced Robotics, vol. 79, Springer Berlin Heidelberg, pp. 125-136.
DOI: 10.1007/978-3-642-28572-1_9

BibTeX

Haddadin, S., Parusel, S., Belder, R. & Albu-Schäffer, A. (2013): It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning, In Bitsch, F., Guiochet, J. & Kaâniche, M. (Ed.): Computer Safety, Reliability, and Security (SAFECOMP 2013), Lecture Notes in Computer Science, vol. 8153, Springer Berlin Heidelberg, pp. 202-215.
DOI: 10.1007/978-3-642-40793-2_19

BibTeX

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

Albu-Schäffer, A., Eiberger, O., Fuchs, M., Grebenstein, M., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T., Wolf, S., Borst, C. & Hirzinger, G. (2011): Anthropomorphic soft robotics--from torque control to variable intrinsic compliance, Robotics Research, Springer, pp. 185-207.
DOI: 10.1007/978-3-642-19457-3_12

BibTeX

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2011): Safe physical human-robot interaction: measurements, analysis and new insights, Robotics Research, Springer, pp. 395-407.
DOI: 10.1007/978-3-642-14743-2_33

BibTeX

Haddadin, S., Suppa, M., Fuchs, S., Bodenmüller, T., Albu-Schäffer, A. & Hirzinger, G. (2011): Towards the robotic co-worker, Robotics Research, Springer, pp. 261-282.
DOI: 10.1007/978-3-642-19457-3_16

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. weitere Informationen

BibTeX

Zeitschriftenartikel

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

Haddadin, Sami and Krieger, Kai and Albu-Schäffer, Alin and Lilge, Torsten (2017): Exploiting Elastic Energy Storage for “Blind” Cyclic Manipulation: Modeling, Stability Analysis, Control and Experiments for Dribbling, Accepted at IEEE Transactions on Robotics

Li, Y. and Ganesh, G.; Jarrasse, N.; Haddadin, S.; Albu-Schäffer, A. & Burdet, E. (2017): Force, Impedance and Trajectory Learning for Contact Tooling and Haptic Identification, Accepted for IEEE Transactions on Robotics

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  | Datei |
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

Braun, D., Petit, F., Huber, F., Haddadin, S., van der Smagt, P., Albu-Schäffer, A. & Vijayakumar, S. (2013): Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints, Robotics, IEEE Transactions on, vol. 29, no. 5, Oct, pp. 1085-1101. 2014 King-Sun Fu Memorial Award: Best Paper in the IEEE Transactions on Robotics.
DOI: 10.1109/TRO.2013.2271099

BibTeX

Haddadin, S. & Haddadin, S. (2013): Human-centered robotics-Biomechanics & Safety Laboratory of the Robotics and Mechatronics Center, Biomechanica Hungarica, vol. 5, no. 1, pp. 7-9.
DOI: 10.17489/biohun/2012/1/01

BibTeX

Vanderborght, B., Albu-Schäffer, A., Bicchi, A., Burdet, E., Caldwell, D., Carloni, R., Catalano, M., Eiberger, O., Friedl, W., Ganesh, G., M. Garabini, Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N., Van Damme, M., Van Ham, R., Visser, L.C.& Wolf, S. (2013): Variable impedance actuators: A review, Robotics and Autonomous Systems, vol. 61, no. 12, Elsevier, pp. 1601-1614.
DOI: 10.1016/j.robot.2013.06.009

BibTeX

Grebenstein, M., Chalon, M., Friedl, W., Haddadin, S., Wimböck, T., Hirzinger, G. & Siegwart, R. (2012): The hand of the DLR Hand Arm System: Designed for interaction, The International Journal of Robotics Research, vol. 31, no. 13, pp. 1531-1555.
DOI: 10.1177/0278364912459209

BibTeX

Haddadin, S., Giordano, P. & Peer, A. (2012): Editoral for the Special Issue on Autonomous Physical Human-Robot Interaction, The international Journal of Robotics Research, vol. 31, pp. 1529-1530.
DOI: 10.1177/0278364912464705

BibTeX

Haddadin, S., Haddadin, S., Khoury, A., Rokahr, T., Parusel, S., Burgkart, R., Bicchi, A. & Albu-Schäffer, A. (2012): On making robots understand safety: Embedding injury knowledge into control, The International Journal of Robotics Research, vol. 31, no. 13, Sage Publications, pp. 1578-1602.
DOI: 10.1177/0278364912462256

BibTeX

Hochberg, L. R., Bacher, D., Jarosiewicz, B., Masse, N. Y., Simeral, J. D., Vogel, J., Haddadin, S., Liu, J., Cash, S. S., van der Smagt, P. & Donoghue, John P. (2012): Reach and grasp by people with tetraplegia using a neurally controlled robotic arm, Nature, vol. 485, no. 7398, Nature Publishing Group, pp. 372-375.
DOI: 10.1038/nature11076

BibTeX

Papazov, C., Haddadin, S., Parusel, S., Krieger, K. & Burschka, D. (2012): Rigid 3D geometry matching for grasping of known objects in cluttered scenes, The International Journal of Robotics Research, vol. 31, no. 4, SAGE Publications, pp. 538-553.
DOI: 10.1177/0278364911436019

BibTeX

Haddadin, S., Albu-Schäffer, A., Haddadin, F., Rosmann, J. & Hirzinger, G. (2011): Study on Soft-Tissue Injury in Robotics, Robotics Automation Magazine, IEEE, vol. 18, no. 4, Dec, pp. 20-34.
DOI: 10.1109/MRA.2011.942996

BibTeX

Yang, C., Ganesh, G., Haddadin, S., Parusel, S., Albu-Schäffer, A. & Burdet, E. (2011): Human-like adaptation of force and impedance in stable and unstable interactions, Robotics, IEEE Transactions on, vol. 27, no. 5, IEEE, pp. 918-930.
DOI: 10.1109/TRO.2011.2158251

BibTeX

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2010): Safety analysis for a human-friendly manipulator, International Journal of Social Robotics, vol. 2, no. 3, Springer, pp. 235-252.
DOI: 10.1007/s12369-010-0053-z

BibTeX

Haddadin, S., Suppa, M., Fuchs, S., Bodenmüller, T., Albu-Schäffer, A. & Hirzinger, G. (2010): Konzepte für den Roboterassistenten der Zukunft - {T}owards the Robotic Co-Worker, at - automatisierungstechnik, vol. 58, no. 12, pp. 695-708.
DOI: 10.1524/auto.2010.0888

BibTeX

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2009): Requirements for safe robots: Measurements, analysis and new insights, The International Journal of Robotics Research, vol. 28, no. 11-12, SAGE Publications, pp. 1507-1527.
DOI: 10.1177/0278364909343970

BibTeX

Haddadin, S., Laue, T., Frese, U., Wolf, S., Albu-Schäffer, A. & Hirzinger, G. (2009): Kick it with elasticity: Safety and performance in human--robot soccer, Robotics and Autonomous Systems, vol. 57, no. 8, Elsevier, pp. 761-775.
DOI: 10.1016/j.robot.2009.03.004

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

Albu-Schäffer, A., Eiberger, O., Grebenstein, M., Haddadin, S., Ott, C., Wimbock, T., Wolf, S. & Hirzinger, G. (2008): Soft robotics, Robotics & Automation Magazine, IEEE, vol. 15, no. 3, IEEE, pp. 20-30.
DOI: 10.1109/MRA.2008.927979

BibTeX

Albu-Schäffer, A., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T. & Hirzinger, G. (2007): The DLR lightweight robot: design and control concepts for robots in human environments, Industrial Robot: An International Journal, vol. 34, no. 5, Emerald Group Publishing Limited, pp. 376-385.
DOI: 10.1108/01439910710774386

BibTeX

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2007): Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing, Proceedings of Robotics: Science and Systems, vol. 3, pp. 217-224.

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

Konferenzbeiträge

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  | Datei |
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  | Datei |
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)  | Datei | weitere Informationen
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) weitere Informationen
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 weitere Informationen
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

Tomic, T., Maier, M. & Haddadin, S. (2014): Learning Quadrocopter Maneuvers From Optimal Control and Generalizing in Real-time, International Conference on Robotics and Automation (ICRA), 2014, Hong Kong, China, May 31 - June 7, pp. 1747-1754
DOI: 10.1109/ICRA.2014.6907087

BibTeX

Bohren, J., Papazov, C., Burschka, D., Krieger, K., Parusel, S., Haddadin, S., Shepherdson, W. L., Hager, G. D. & Whitcomb, L. L. (2013): A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks, Robotics and Automation (ICRA), 2013 IEEE International Conference on, pp. 3631-3638.
DOI: 10.1109/ICRA.2013.6631087

BibTeX

Haddadin, S. & Mansfeld, N. (2013): Human Injury Analysis in Robotics: An Overview, International Conference on Intelligent Robots and Systems (IROS), Workshop.

BibTeX

Haddadin, S., Weitschat, R., Huber, F., Özparpucu, M. C., Mansfeld, N. & Alin, A.-S. (2013): Optimal Control for Viscoelastic Robots and its Generalization in Real-Time, International Symposium on Robotics Research (ISRR).

BibTeX

Haddadin, S., Parusel, S., Belder, R., Albu-Schäffer, A. (2013): It is (almost) all about human safety: a novel paradigm for robot design, control, and planning, In Bitsch, F., Guiochet, J., Kaâniche, M.: Computer Safety, Reliability, and Security, pp 202-215, NEUROTECHNIX, 18.-20.Sept., Vilamoura, Portugal
DOI: 10.1007/978-3-642-40793-2_19

BibTeX

Huber, F., Kondak, K., Krieger, K., Sommer, D., Schwarzbach, M., Laiacker, M., Kossyk, I., Parusel, S., Haddadin, S. & Albu-Schäffer, A. (2013): First analysis and experiments in aerial manipulation using fully actuated redundant robot arm, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp. 3452-3457.
DOI: 10.1109/IROS.2013.6696848

BibTeX

Ozparpucu, M. C. & Haddadin, S. (2013): Optimal control for maximizing link velocity of visco-elastic joints, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp. 3035-3042.
DOI: 10.1109/IROS.2013.6696786

BibTeX

Sharma, K., Haddadin, S., Minning, S., Heindl, J., Bellmann, T., Parusel, S., Rokahr, T. & Albu-Schäffer, A. (2013): Evaluation of human safety in the DLR Robotic Motion Simulator using a crash test dummy, Robotics and Automation (ICRA), 2013 IEEE International Conference on, May, pp. 205-212.
DOI: 10.1109/ICRA.2013.6630577

BibTeX

Weitschat, R., Haddadin, S., Huber, F. & Albu-Schäffer, A. (2013): Dynamic optimality in real-time: A learning framework for near-optimal robot motions, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp. 5636-5643.
DOI: 10.1109/IROS.2013.6697173

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. weitere Informationen

BibTeX

Braun, D. J., Petit, F., Huber, F., Haddadin, S., Van Der Smagt, P., Albu-Schäffer, A. & Vijayakumar, S. (2012): Optimal torque and stiffness control in compliantly actuated robots, Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pp. 2801-2808.
DOI: 10.1109/IROS.2012.6385991

BibTeX

Ganesh, G., Jarrasse, N., Haddadin, S., Albu-Schäffer, A. & Burdet, E. (2012): A versatile biomimetic controller for contact tooling and haptic exploration, Robotics and Automation (ICRA), 2012 IEEE International Conference on, May, pp. 3329-3334.
DOI: 10.1109/ICRA.2012.6225057

BibTeX

Haddadin, S., Can Ozparpucu, M. & Albu-Schäffer, A. (2012): Optimal control for maximizing potential energy in a variable stiffness joint, Decision and Control (CDC), 2012 IEEE 51st Annual Conference on, pp. 1199-1206.
DOI: 10.1109/CDC.2012.6426032

BibTeX

Haddadin, S., Huber, F. & Albu-Schäffer, A. (2012): Optimal control for exploiting the natural dynamics of variable stiffness robots, Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp. 3347-3354.
DOI: 10.1109/ICRA.2012.6225190

BibTeX

Haddadin, S., Khoury, A., Rokahr, T., Parusel, S., Burgkart, R., Bicchi, A. & Albu-Schäffer, A. (2012): A truly safely moving robot has to know what injury it may cause, Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pp. 5406-5413.
DOI: 10.1109/IROS.2012.6386163

BibTeX

Haddadin, S., Krieger, K., Mansfeld, N. & Albu-Schäffer, A. (2012): On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level, Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pp. 5089-5096.
DOI: 10.1109/IROS.2012.6385913

BibTeX

Haddadin, S., Mansfeld, N. & Albu-Schäffer, A. (2012): Rigid vs. elastic actuation: Requirements & performance, Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pp. 5097-5104.
DOI: 10.1109/IROS.2012.6386227

BibTeX

Sharma, K., Haddadin, S., Heindl, J., Bellmann, T., Parusel, S., Rokahr, T., Minning, S. & Hirzinger, G. (2012): Serial Kinematics based Motion Simulator - Evaluation of safety of the Passenger, The 7th International Conference on the Safety of Industrial Automated Systems (SIAS-2012), pp. 216-221.

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. weitere Informationen

BibTeX

Albu-Schäffer, A., Bahls, T., Chalon, M., Eiberger, O., Friedl, W.,Gruber, R., Haddadin, S., Hagn, U., Haslinger, R., Hoppner, H., Jorg, S., Nickl, M., Nothhelfer, A., Petit, F., Reill, J., Seitz, N., Wimbock, T., Wolf, S., Wusthoff, T., Hirzinger, G. (2011): The DLR hand arm system, Robotics and Automation (ICRA), 2011 IEEE International Conference on, pp. 3175-3182.
DOI: 10.1109/ICRA.2011.5980371

BibTeX

Ende, T., Haddadin, S., Parusel, S., Wusthoff, T., Hassenzahl, M. & Albu-Schäffer, A. (2011): A human-centered approach to robot gesture based communication within collaborative working processes, Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pp. 3367-3374.
DOI: 10.1109/IROS.2011.6094592

BibTeX

Haddadin, S., Belder, R. & Albu-Schäffer, A. (2011): Dynamic motion planning for robots in partially unknown environments, Proceedings of the 18th IFAC World Congress, 2011, vol. 18, Milan, Italy, pp. 6842-6850.
DOI: 10.3182/20110828-6-IT-1002.02500

BibTeX

Haddadin, S., Krieger, K. & Albu-Schäffer, A. (2011): Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling, Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on, Dec, pp. 690-697.
DOI: 10.1109/CDC.2011.6161022

BibTeX

Haddadin, S., Krieger, K., Kunze, M. & Albu-Schäffer, A. (2011): Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot, Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, Sept, pp. 1789-1796.
DOI: 10.1109/IROS.2011.6094757

BibTeX

Haddadin, S., Parusel, S., Belder, R., Albu-Schäffer, A. & Hirzinger, G. (2011): Safe acting and manipulation in human environments: A key concept for robots in our society, Workshop on Advanced Robotics and its Social Impacts (ARSO), 2011, pp. 72-75.
DOI: 10.1109/ARSO.2011.6301962

BibTeX

Haddadin, S., Weis, M., Wolf, S. & Albu-Schäffer, A. (2011): Optimal control for maximizing link velocity of robotic variable stiffness joints, Proceedings of the 18th IFAC World Congress, 2011, vol. 18, Milan, Italy, pp. 6863-6871.
DOI: 10.3182/20110828-6-IT-1002.01686

BibTeX

Park, J.-J., Haddadin, S., Song, J.-B. & Albu-Schäffer, A. (2011): Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions, Robotics and Automation (ICRA), 2011 IEEE International Conference on, pp. 5413-5420.
DOI: 10.1109/ICRA.2011.5980282

BibTeX

Parusel, S., Haddadin, S. & Albu-Schäffer, A. (2011): Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot, Robotics and Automation (ICRA), 2011 IEEE International Conference on, pp. 4298-4305.
DOI: 10.1109/ICRA.2011.5980549

BibTeX

Albu-Schäffer, A., Wolf, S., Eiberger, O., Haddadin, S., Petit, F. & Chalon, M. (2010): Dynamic modelling and control of variable stiffness actuators, Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp. 2155-2162.
DOI: 10.1109/ROBOT.2010.5509850

BibTeX

Bischoff, R., Kurth, J., Schreiber, G., Koeppe, R., Albu-Schäffer, A., Beyer, A., Eiberger, O., Haddadin, S., Stemmer, A., Grunwald, G. & Hirzinger, G. (2010): The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing, Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), pp. 1-8. weitere Informationen

BibTeX

Burger, R., Haddadin, S., Plank, G., Parusel, S. & Hirzinger, G. (2010): The driver concept for the DLR Lightweight Robot III, Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pp. 5453-5459.
DOI: 10.1109/IROS.2010.5650299

BibTeX

Eiberger, O., Haddadin, S., Weis, M., Albu-Schäffer, A. & Hirzinger, G. (2010): On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint., ICRA, pp. 1687-1694.
DOI: 10.1109/ROBOT.2010.5509662

BibTeX

Fuchs, S., Haddadin, S., Keller, M., Parusel, S., Kolb, A. & Suppa, M. (2010): Cooperative bin-picking with time-of-flight camera and impedance controlled dlr lightweight robot iii, Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pp. 4862-4867.
DOI: 10.1109/IROS.2010.5651046

BibTeX

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2010): Soft-tissue injury in robotics, Robotics and Automation (ICRA), 2010 IEEE International Conference on, May, pp. 3426-3433.
DOI: 10.1109/ROBOT.2010.5509854

BibTeX

Haddadin, S., Albu-Schäffer, A., Eiberger, O. & Hirzinger, G. (2010): New insights concerning intrinsic joint elasticity for safety, Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, pp. 2181-2187.
DOI: 10.1109/IROS.2010.5652037

BibTeX

Haddadin, S., Parusel, S., Belder, R., Vogel, J., Rokahr, T., Albu-Scha¨ffer, A. & Hirzinger, G. (2010): Holistic design and analysis for the human-friendly robotic co-worker, Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ Intl. Conf., pp. 4735-4742.
DOI: 10.1109/IROS.2010.5650636

BibTeX

Haddadin, S., Urbanek, H., Parusel, S., Burschka, D., Rossmann, J., Albu-Schäffer, A. & Hirzinger, G. (2010): Real-time reactive motion generation based on variable attractor dynamics and shaped velocities, Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, Oct, pp. 3109-3116.
DOI: 10.1109/IROS.2010.5650246

BibTeX

Liu, J., Simeral, J., Stavisky, S., Bacher, D. & Vogel, J. (2010): Control of a robotic arm using intracortical motor signal by an individual with tetraplegia in the BrainGate2 trial, 40th Annual Meeting in Neuroscience (SFN2010).

BibTeX

Vogel, J., Haddadin, S., Simeral, J., Stavisky, S., Bacher, D., Hochberg, L., Donoghue, J. & van der Smag, P. (2010): Continuous Control of the DLR Light-WeightRobot III by a human with tetraplegia using theBrainGate2 Neural Interface System, International Symposium on Experimental Robotics (ISER 2010).

BibTeX

Albu-Schäffer, A., Eiberger, O., Fuchs, M., Grebenstein, M., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T., Wolf, S. & Hirzinger, G. (2009): Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance, International Symposium on Robotics Research (ISRR).
DOI: 10.1007/978-3-642-19457-3_12

BibTeX

Haddadin, S., Albu-Schäffer, A., Frommberger, M., Rossmann, J. & Hirzinger, G. (2009): The 'DLR Crash Report': Towards a standard crash-testing protocol for robot safety-part I: Results, Robotics and Automation, 2009. ICRA'09. IEEE International Conference on, pp. 272-279.
DOI: 10.1109/ROBOT.2009.5152602

BibTeX

Haddadin, S., Albu-Schäffer, A., Frommberger, M., Rossmann, J. & Hirzinger, G. (2009): The 'DLR crash report': towards a standard crash-testing protocol for robot safety-part II: discussions, Robotics and Automation, 2009. ICRA'09. IEEE International Conference on, pp. 280-287.
DOI: 10.1109/ROBOT.2009.5152711

BibTeX

Haddadin, S., Suppa, M., Fuchs, S., Bodenmüller, T., Albu-Schäffer, A. & Hirzinger, G. (2009): Towards the Robotic Co-Worker, International Symposium on Robotics Research (ISRR). weitere Informationen

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

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2008): The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts, Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, May, pp. 1331-1338.
DOI: 10.1109/ROBOT.2008.4543388

BibTeX

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2008): Safety in Human-Robot Interaction, Robotics Science and Systems Conference.

BibTeX

Haddadin, S., Albu-Schäffer, A., De Luca, A. & Hirzinger, G. (2008): Collision detection and reaction: A contribution to safe physical human-robot interaction, Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, pp. 3356-3363.
DOI: 10.1109/IROS.2008.4650764

BibTeX

Haddadin, S., Albu-Schäffer, A., De Luca, A. & Hirzinger, G. (2008): Evaluation of collision detection and reaction for a human-friendly robot on biological tissues, 6th IARP/IEEE/EURON Joint Workshop on Technical Challenges for Dependable Robots in Human Environments (IARP2008), Pasadena, USA.

BibTeX

Haddadin, S., Albu-Schäffer, A., Frommberger, M. & Hirzinger, G. (2008): The role of the robot mass and velocity in physical human-robot interaction - Part II: Constrained blunt impacts, Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, May, pp. 1339-1345.
DOI: 10.1109/ROBOT.2008.4543389

BibTeX

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

BibTeX

Wolf, S., Albu-Schäffer, A., Haddadin, S. & Hirzinger, G. (2008): From Actively Compliant Lightweight Robots to Intrinsically Compliant System, First workshop for young researchers on Human-friendly robotics, Napoli, Ialy. weitere Informationen

BibTeX

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2007): Safe physical human-robot interaction: measurements, analysis & new insights, International symposium on robotics research (ISRR2007), Hiroshima, Japan, pp. 439-450.

BibTeX

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2007): Dummy crash-tests for the evaluation of rigid human-robot impacts, IARP-IEEE/RAS-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments.

BibTeX

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2007): Approaching Asimov's 1st law: The impact of the robot's weight class, Robotics: Science and Systems Conference Workshop: Robot Manipulation: Sensing and adapting the real world (RSS2007), Atlanta, USA.

BibTeX

Haddadin, S., Laue, T., Frese, U. & Hirzinger, G. (2007): Foul 2050: Thoughts on physical interaction in human-robot soccer, Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, pp. 3243-3250.
DOI: 10.1109/IROS.2007.4399464

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

De Luca, A., Albu-Schäffer, A., Haddadin, S. & Hirzinger, G. (2006): Collision detection and safe reaction with the DLR-III lightweight manipulator arm, International Conference on Intelligent Robots and Systems (IROS), 2006 IEEE/RSJ, pp. 1623-1630.
DOI: 10.1109/IROS.2006.282053

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. weitere Informationen

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). weitere Informationen

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. weitere Informationen
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. weitere Informationen
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). weitere Informationen

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). weitere Informationen

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

Workshopbeiträge

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  | Datei |

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.  | Datei |

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

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 weitere Informationen

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. weitere Informationen

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 weitere Informationen

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 Publikationen

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

Huber, F., Krieger, K., Weitschat, R., Albu-Schaffer, A., Wolf, S., Friedl, W., Grebenstein, M., Petit, F., Reinecke, J. & Lampariello, R. (2012): Intrinsically elastic robots: The key to human like performance (Video), International Conference on Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ, pp. 4270-4271.
DOI: 10.1109/IROS.2012.6386289

BibTeX, Video

Vanderborght, B., Albu-Schäffer, A., Bicchi, A., Burdet, E., Caldwell, D., Carloni, R., Catalano, M., Eiberger, O., Friedl, W., Ganesh, G., M. Garabini, Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N., Van Damme, M., Van Ham, R., Visser, L.C.& Wolf, S. (2012): Variable impedance actuators: moving the robots of tomorrow (Video), International Conference on Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ, pp. 5454-5455.
DOI: 10.1109/IROS.2012.6385433

BibTeX, Video

Haddadin, S., Albu-Schaffer, A., Strohmayr, M., Frommberger, M. & Hirzinger, G. (2008): Injury evaluation of human-robot impacts (Video), Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, May, pp. 2203-2204.
DOI: 10.1109/ROBOT.2008.4543534

BibTeX, Video

Borst, C., Ott, C., Wimbock, T., Brunner, B., Zacharias, F., Bauml, B., Hillenbrand, U., Haddadin, S., Albu-Schäffer Alin, A. & Hirzinger, G. (2007): A humanoid upper body system for two-handed manipulation (Video), Robotics and Automation, 2007 IEEE International Conference on, April, pp. 2766-2767.
DOI: 10.1109/ROBOT.2007.363886

BibTeX, Video

Haddadin, S., Albu-Schäffer, A. & Hirzinger, G. (2007): Approaching Asimov's 1st Law (Video), International Conference on Human-Robot Interaction (HRI2007), pp. 177-183.
DOI: 10.1145/1228716.1228740

BibTeX, Video