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Logo: Institute of Automatic Control
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Logo: Institute of Automatic Control
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Publications of Prof. Dr.-Ing. Sami Haddadin

Books

2014

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

Book Chapter

2019

Haddadin, Sami; Johannsmeier, Lars; Schmid, Johannes; Ende, Tobias; Parusel, Sven; Haddadin, Simon; Schappler, Moritz; Lilge, Torsten & Becker, Marvin (2019): Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands, Robotics in Education - Results of the 9th International Conference on Robotics in Education (Rie 2018), pp. 3-17
DOI: 10.1007/978-3-319-97085-1_1

2016

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

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

2015

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

Journals

2018

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 more ...
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, IEEE Transactions on Robotics, 34, 1170-1182
DOI: 10.1109/TRO.2018.2830405

Ma'touq, J., Hu, T. and Haddadin, S. (2018): Sub-Millimetre Accurate Human Hand Kinematics: from Surface to Skeleton, Computer Methods in Biomechanics and Biomedical Engineering, vol. 21, 2, 113-128 (Open Access)
DOI: 10.1080/10255842.2018.1425996

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 more ...
DOI: 10.1109/LRA.2018.2801477

2017

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 more ...
DOI: 10.1109/TRO.2017.2723903

Johannsmeier, L., Haddadin, S. (2017): A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes, IEEE Robotics and Automation Letters (RA-L), Volume 2, Issue 1, p. 41-48 more ...
DOI: 10.1109/LRA.2016.2535907

Kuehn, J., Haddadin, S. (2017): An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts, IEEE Robotics and Automation Letters (RA-L), Volume 2, Issue 1, p. 72 - 79. more ...
DOI: 10.1109/LRA.2016.2536360

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

2016

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 more ...
DOI: 10.1109/LRA.2015.2511663

2015

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

2014

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

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

Conference Papers

2018

Hu, Tingli; and Kühn, Johannes; and Ma'touq, Jumana & Haddadin, Sami (2018): Learning and Identification of human upper-limb muscle synergies in daily-life tasks with autoencoders, OTWorld Congress, Leipzig, Germany, 15.-18. May, more ...
DOI: 10.15488/3679

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), pp. 158-165 more ...
DOI: 10.1109/SIMPAR.2018.8376286

2017

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, 438-445
DOI: 10.1109/HUMANOIDS.2017.8246910

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), 5368-5375
DOI: 10.1109/IROS.2017.8206432

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), 5390-5397
DOI: 10.1109/IROS.2017.8206435

Shahriari, Erfan; Kramberger, Aljaž; Gams, Andrej; Ude, Aleš a & Haddadin, Sami (2017): Adapting to Contacts: Energy Tanks and Task Energy for Passivity-Based Dynamic Movement Primitives, IEEE RAS International Conference on Humanoid Robots (Humanoids), Birmingham, UK, 136-142
DOI: 10.1109/HUMANOIDS.2017.8239548

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 more ...
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 more ...
DOI: 10.1109/ICRA.2017.7989552

2016

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

Tomic, T., Schmid, K., Lutz, P., Mathers, A. & Haddadin, S. (2016): The flying anemometer: Unified estimation of wind velocity from aerodynamic power and wrenches, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1637-1644
DOI: 10.1109/IROS.2016.7759264

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) more ...
DOI: 10.1109/IROS.2016.7759517

2015

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

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

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

2014

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

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

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

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

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

Workshop Papers

2018

Mansfeld, Nico; Hamad, Mazin; Becker, Marvin; Gonzales Marin, Antonio & Haddadin, Sami (2018): Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot Design, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Autonomous Robot Design more ...
DOI: 10.15488/3572

2017

Kathrin Nülle, Moritz Schappler, Svenja Tappe, Torsten, Lilge, Tobias Ortmaier, Sami Haddadin (2017): 3. Arm - Handwerker-Kraftassistenzsystem mit adaptiver Mensch-Technik-Interaktion: Projektabschlussbericht des Mechatronik Zentrum Hannovers
DOI: 10.2314/GBV:1014030161

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 |

2016

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

Johannsmeier, L., Ringwald, J., Kuehn, J., Haddadin, S. (2016): Teleoperated Semi-Autonomous Control of the LWR and a Humanoid Hand via the Myo Armband, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Human-robot interfaces for enhanced physical interactions, Stockholm, May 2016,  | file |

Kuehn, J., Vorndamme, J., Schappler, M., Haddadin, S. (2016): Humanoid Collision Reflex Sequences based on an artificial Robot Nervous System including Contact Location and Direction, IEEE International Conference on Robotics and Automation (ICRA), Workshop on Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions, Stockholm, May 2016.  | file |

2015

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 ...

Lars Johannsmeier, Sami Haddadin (2015): A framework for task allocation in collaborative industrial assembly processes, 8th International Workshop on Human-Friendly Robotics, Munich, October 2015. more ...

Tödtheide, Alexander and Lilge, Torsten and Haddadin, Sami (2015): Compliant Interaction with an Antagonistic Pneumatically Controlled Robot Joint, 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 ...

2014

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

2018

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 more ...
DOI: 10.1145/3173386.3177534

2014

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.