Sami Haddadin
173 publications
9 venues
H Index 34
Affiliation
Technical University Munich, GermanyLinks
| Name | Venue | Year | citations |
|---|---|---|---|
1 kHz Behavior Tree for Self-adaptable Tactile Insertion.
|
ICRA | 2024 | 0 |
| Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach.
|
ICRA | 2024 | 0 |
| CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation.
|
ICRA | 2024 | 0 |
| Safe-By-Design Digital Twins for Human-Robot Interaction: A Use Case for Humanoid Service Robots.
|
ICRA | 2024 | 0 |
| Predicting against the Flow: Boosting Source Localization by Means of Field Belief Modeling using Upstream Source Proximity.
|
ICRA | 2024 | 0 |
| Geometric Slosh-Free Tracking for Robotic Manipulators.
|
ICRA | 2024 | 0 |
| Design and Implementation of a Robotic Testbench for Analyzing Pincer Grip Execution in Human Specimen Hands.
|
ICRA | 2024 | 0 |
| Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints.
|
ICRA | 2024 | 0 |
| Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions.
|
ICRA | 2024 | 0 |
| Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database.
|
ICRA | 2024 | 0 |
| Autonomous and Teleoperation Control of a Drawing Robot Avatar.
|
ICRA | 2024 | 0 |
| Enhancing the Tracking Performance of Passivity-based High-Frequency Robot Cloud Control.
|
ICRA | 2024 | 0 |
| Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control.
|
ICRA | 2024 | 0 |
| Autonomous UAV Mission Cycling: A Mobile Hub Approach for Precise Landings and Continuous Operations in Challenging Environments.
|
ICRA | 2024 | 0 |
| Accurate Kinematic Modeling using Autoencoders on Differentiable Joints.
|
ICRA | 2024 | 0 |
| RETOM: Leveraging Maneuverability for Reactive Tool Manipulation using Wrench-Fields.
|
ICRA | 2024 | 0 |
| Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots.
|
ICRA | 2024 | 0 |
| Torque Transmission in Double-Tendon Sheath Driven Actuators for Application in Exoskeletons.
|
ICRA | 2024 | 0 |
| The Fingertip Manipulability Assessment of Tendon-Driven Multi-Fingered Hands.
|
IEEE Robotics and Automation Letters | 2024 | 0 |
| Enhanced Dexterity Maps (EDM): A New Map for Manipulator Capability Analysis.
|
IEEE Robotics and Automation Letters | 2024 | 0 |
| A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload.
|
IEEE Robotics and Automation Letters | 2024 | 0 |
| A transhumeral prosthesis with an artificial neuromuscular system: Sim2real-guided design, modeling, and control.
|
IJRR | 2024 | 0 |
| A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud.
|
ICRA | 2023 | 0 |
| Soft Sensing Skins for Arbitrary Objects: An Automatic Framework.
|
ICRA | 2023 | 0 |
| LATTE: LAnguage Trajectory TransformEr.
|
ICRA | 2023 | 0 |
| A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics.
|
ICRA | 2023 | 0 |
| Identification of a Generalized Base Inertial Parameter Set of Robotic Manipulators Considering Mounting Configurations.
|
ICRA | 2023 | 0 |
| S*: On Safe and Time Efficient Robot Motion Planning.
|
ICRA | 2023 | 0 |
| Human-Inspired Audiovisual Inducement of Whole-Body Responses.
|
Humanoids | 2023 | 0 |
| A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading.
|
Humanoids | 2023 | 0 |
| Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers
|
IROS | 2023 | 0 |
| A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration.
|
IROS | 2023 | 0 |
| Contact-Aware Shaping and Maintenance of Deformable Linear Objects With Fixtures.
|
IROS | 2023 | 0 |
| Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles.
|
IROS | 2023 | 0 |
| Labelling Lightweight Robot Energy Consumption: A Mechatronics-Based Benchmarking Metric Set.
|
IROS | 2023 | 0 |
| Shared Autonomy Control for Slosh-Free Teleoperation.
|
IROS | 2023 | 0 |
| I
|
IROS | 2023 | 0 |
| Anthropomorphic Grasping With Neural Object Shape Completion.
|
IEEE Robotics and Automation Letters | 2023 | 0 |
| Aim-Aware Collision Monitoring: Discriminating Between Expected and Unexpected Post-Impact Behaviors.
|
IEEE Robotics and Automation Letters | 2023 | 0 |
| Cooperative Assist-as-Needed Control for Robotic Rehabilitation: A Two-Player Game Approach.
|
IEEE Robotics and Automation Letters | 2023 | 0 |
| Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept.
|
IEEE Robotics and Automation Letters | 2023 | 0 |
| Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics.
|
IEEE Robotics and Automation Letters | 2023 | 0 |
| ECDP: Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots.
|
IEEE Robotics and Automation Letters | 2023 | 0 |
| Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance.
|
IROS | 2022 | 0 |
| Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control.
|
IROS | 2022 | 0 |
| Real-time IMU-Based Learning: a Classification of Contact Materials.
|
IROS | 2022 | 0 |
| A Solution to Slosh-free Robot Trajectory Optimization.
|
IROS | 2022 | 1 |
| Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space.
|
IROS | 2022 | 0 |
| Robust Cartesian Kinematics Estimation for Task-Space Control Systems.
|
IROS | 2022 | 0 |
| Passivity-Based Adaptive Force-Impedance Control for Modular Multi-Manual Object Manipulation.
|
IEEE Robotics and Automation Letters | 2022 | 2 |
| Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers.
|
IROS | 2022 | 7 |
| Online Payload Identification for Tactile Robots Using the Momentum Observer.
|
ICRA | 2022 | 0 |
| Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction.
|
ICRA | 2022 | 0 |
| Object-Centric Grasping Transferability: Linking Meshes to Postures.
|
Humanoids | 2022 | 0 |
| Functional Mode Switching for Safe and Efficient Human-Robot Interaction.
|
Humanoids | 2022 | 0 |
| Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP.
|
IROS | 2022 | 2 |
| Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling.
|
IROS | 2022 | 1 |
| Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result.
|
ICRA | 2022 | 0 |
| Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study.
|
IEEE Robotics and Automation Letters | 2022 | 0 |
| An MPC Framework For Planning Safe & Trustworthy Robot Motions.
|
ICRA | 2022 | 0 |
| Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees.
|
ICRA | 2022 | 2 |
| BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots.
|
IROS | 2022 | 0 |
| Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance.
|
IROS | 2022 | 0 |
| A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation.
|
IROS | 2022 | 0 |
| End-to-End From Human Hand Synergies to Robot Hand Tendon Routing.
|
IEEE Robotics and Automation Letters | 2022 | 0 |
| On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G.
|
IROS | 2022 | 0 |
| Integrated Bi-Manual Motion Generation and Control shaped for Probabilistic Movement Primitives.
|
Humanoids | 2022 | 0 |
| Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction.
|
IEEE Robotics and Automation Letters | 2022 | 0 |
| Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach.
|
IEEE Robotics and Automation Letters | 2021 | 3 |
| Coordinated Motion Generation and Object Placement: A Reactive Planning and Landing Approach.
|
IROS | 2021 | 5 |
| RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema.
|
ICRA | 2021 | 0 |
| Drawing Elon Musk: A Robot Avatar for Remote Manipulation.
|
IROS | 2021 | 1 |
| Reactive Cooperative Manipulation based on Set Primitives and Circular Fields.
|
ICRA | 2021 | 8 |
| Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk.
|
ICRA | 2021 | 1 |
| CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems.
|
ICRA | 2021 | 2 |
| ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk.
|
ICRA | 2021 | 1 |
| Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning.
|
IEEE Robotics and Automation Letters | 2021 | 5 |
| Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification.
|
IROS | 2021 | 1 |
| Introducing GARMI - A Service Robotics Platform to Support the Elderly at Home: Design Philosophy, System Overview and First Results.
|
IEEE Robotics and Automation Letters | 2021 | 14 |
| A Dual Doctor-Patient Twin Paradigm for Transparent Remote Examination, Diagnosis, and Rehabilitation.
|
IROS | 2021 | 6 |
| Fast and Safe Trajectory Planning: Solving the Cobot Performance/Safety Trade-Off in Human-Robot Shared Environments.
|
IEEE Robotics and Automation Letters | 2021 | 12 |
| GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing.
|
IROS | 2021 | 4 |
| Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking.
|
IROS | 2021 | 7 |
| Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators.
|
IEEE Robotics and Automation Letters | 2020 | 16 |
| Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing.
|
IEEE Robotics and Automation Letters | 2020 | 31 |
| Feeling the True Force in Haptic Telepresence for Flying Robots.
|
IROS | 2020 | 1 |
| Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks.
|
IEEE Robotics and Automation Letters | 2020 | 13 |
| Multi-Level Structure vs. End-to-End-Learning in High-Performance Tactile Robotic Manipulation.
|
CoRL | 2020 | 8 |
| Learning Vision-based Reactive Policies for Obstacle Avoidance.
|
CoRL | 2020 | 11 |
| Simultaneous contact and aerodynamic force estimation (s-CAFE) for aerial robots.
|
IJRR | 2020 | 0 |
| Energy-based Adaptive Control and Learning for Patient-Aware Rehabilitation.
|
IROS | 2019 | 3 |
| Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-Robot Collaboration.
|
Humanoids | 2019 | 8 |
| Dentronics: Review, First Concepts and Pilot Study of a New Application Domain for Collaborative Robots in Dental Assistance.
|
ICRA | 2019 | 6 |
| Joint Velocity and Acceleration Estimation in Serial Chain Rigid Body and Flexible Joint Manipulators.
|
IROS | 2019 | 9 |
| The Role of Robot Payload in the Safety Map Framework.
|
IROS | 2019 | 5 |
| Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task.
|
ICRA | 2019 | 1 |
| Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype.
|
ICRA | 2019 | 3 |
| A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control.
|
ICRA | 2019 | 0 |
| Passivity Based Iterative Learning of Admittance-Coupled Dynamic Movement Primitives for Interaction with Changing Environments.
|
IROS | 2018 | 20 |
| FOP Networks for Learning Humanoid Body Schema and Dynamics.
|
Humanoids | 2018 | 7 |
| The Art of Manipulation: Learning to Manipulate Blindly.
|
IROS | 2018 | 1 |
| Smooth Point-to-Point Trajectory Planning in $SE$ (3)with Self-Collision and Joint Constraints Avoidance.
|
IROS | 2018 | 5 |
| CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists.
|
IEEE Robotics and Automation Letters | 2018 | 2 |
| Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties.
|
IEEE Robotics and Automation Letters | 2018 | 49 |
| Collision detection, isolation and identification for humanoids.
|
ICRA | 2017 | 34 |
| An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts.
|
IEEE Robotics and Automation Letters | 2017 | 34 |
| Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization.
|
IROS | 2017 | 17 |
| Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint.
|
ICRA | 2017 | 5 |
| Adapting to contacts: Energy tanks and task energy for passivity-based dynamic movement primitives.
|
Humanoids | 2017 | 29 |
| First-order-principles-based constructive network topologies: An application to robot inverse dynamics.
|
Humanoids | 2017 | 26 |
| A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes.
|
IEEE Robotics and Automation Letters | 2017 | 153 |
| Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms.
|
ISRR | 2017 | 4 |
| Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators.
|
IROS | 2017 | 0 |
| Antagonistic Impedance Control for Pneumatically Actuated Robot Joints.
|
IEEE Robotics and Automation Letters | 2016 | 21 |
| The flying anemometer: Unified estimation of wind velocity from aerodynamic power and wrenches.
|
IROS | 2016 | 22 |
| Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation.
|
IROS | 2016 | 12 |
| Using tactile sensation for learning contact knowledge: Discriminate collision from physical interaction.
|
ICRA | 2015 | 59 |
| Robotic agents capable of natural and safe physical interaction with human co-workers.
|
IROS | 2015 | 30 |
| Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks.
|
ICRA | 2015 | 135 |
| Modeling, identification and joint impedance control of the atlas arms.
|
Humanoids | 2015 | 7 |
| Simultaneous estimation of aerodynamic and contact forces in flying robots: Applications to metric wind estimation and collision detection.
|
ICRA | 2015 | 26 |
| A comparison of braking strategies for elastic joint robots.
|
ICRA | 2015 | 3 |
| An assistive decision-and-control architecture for force-sensitive hand-arm systems driven by human-machine interfaces.
|
IJRR | 2015 | 0 |
| Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection.
|
IROS | 2014 | 11 |
| A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots.
|
IROS | 2014 | 55 |
| Learning quadrotor maneuvers from optimal control and generalizing in real-time.
|
ICRA | 2014 | 31 |
| Collision avoidance with potential fields based on parallel processing of 3D-point cloud data on the GPU.
|
ICRA | 2014 | 32 |
| Dynamic optimality in real-time: A learning framework for near-optimal robot motions.
|
IROS | 2013 | 14 |
| Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time.
|
ISRR | 2013 | 4 |
| Evaluation of human safety in the DLR Robotic Motion Simulator using a crash test dummy.
|
ICRA | 2013 | 3 |
| Variable impedance actuators: A review.
|
Robotics and Autonomous Systems | 2013 | 824 |
| A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks.
|
ICRA | 2013 | 22 |
| First analysis and experiments in aerial manipulation using fully actuated redundant robot arm.
|
IROS | 2013 | 129 |
| Optimal control for maximizing link velocity of visco-elastic joints.
|
IROS | 2013 | 12 |
| On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level.
|
IROS | 2012 | 21 |
| Optimal torque and stiffness control in compliantly actuated robots.
|
IROS | 2012 | 18 |
| Rigid vs. elastic actuation: Requirements & performance.
|
IROS | 2012 | 13 |
| Rigid 3D geometry matching for grasping of known objects in cluttered scenes.
|
IJRR | 2012 | 166 |
| The hand of the DLR Hand Arm System: Designed for interaction.
|
IJRR | 2012 | 184 |
| On making robots understand safety: Embedding injury knowledge into control.
|
IJRR | 2012 | 155 |
| A truly safely moving robot has to know what injury it may cause.
|
IROS | 2012 | 48 |
| Variable impedance actuators: Moving the robots of tomorrow.
|
IROS | 2012 | 48 |
| Optimal control for exploiting the natural dynamics of Variable Stiffness robots.
|
ICRA | 2012 | 60 |
| A versatile biomimetic controller for contact tooling and haptic exploration.
|
ICRA | 2012 | 47 |
| Intrinsically elastic robots: The key to human like performance.
|
IROS | 2012 | 8 |
| Editorial.
|
IJRR | 2012 | 0 |
| A human-centered approach to robot gesture based communication within collaborative working processes.
|
IROS | 2011 | 74 |
| Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions.
|
ICRA | 2011 | 55 |
| Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot.
|
ICRA | 2011 | 31 |
| Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot.
|
IROS | 2011 | 14 |
| The DLR hand arm system.
|
ICRA | 2011 | 397 |
| New insights concerning intrinsic joint elasticity for safety.
|
IROS | 2010 | 81 |
| Dynamic modelling and control of variable stiffness actuators.
|
ICRA | 2010 | 59 |
| Soft-tissue injury in robotics.
|
ICRA | 2010 | 42 |
| Holistic design and analysis for the human-friendly robotic co-worker.
|
IROS | 2010 | 16 |
| Cooperative bin-picking with Time-of-Flight camera and impedance controlled DLR lightweight robot III.
|
IROS | 2010 | 41 |
| Real-time reactive motion generation based on variable attractor dynamics and shaped velocities.
|
IROS | 2010 | 71 |
| The driver concept for the DLR lightweight robot III.
|
IROS | 2010 | 4 |
| On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint.
|
ICRA | 2010 | 125 |
| Towards the Robotic Co-Worker.
|
ISRR | 2009 | 135 |
| Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance.
|
ISRR | 2009 | 47 |
| Kick it with elasticity: Safety and performance in human-robot soccer.
|
Robotics and Autonomous Systems | 2009 | 66 |
| Requirements for Safe Robots: Measurements, Analysis and New Insights.
|
IJRR | 2009 | 398 |
| The "DLR crash report": Towards a standard crash-testing protocol for robot safety - Part II: Discussions.
|
ICRA | 2009 | 0 |
| The "DLR Crash Report": Towards a standard crash-testing protocol for robot safety - Part I: Results.
|
ICRA | 2009 | 0 |
| The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts.
|
ICRA | 2008 | 161 |
| Collision detection and reaction: A contribution to safe physical Human-Robot Interaction.
|
IROS | 2008 | 505 |
| Injury evaluation of human-robot impacts.
|
ICRA | 2008 | 20 |
| The role of the robot mass and velocity in physical human-robot interaction - Part II: Constrained blunt impacts.
|
ICRA | 2008 | 82 |
| Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights.
|
ISRR | 2007 | 119 |
| A humanoid upper body system for two-handed manipulation.
|
ICRA | 2007 | 64 |
| Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing.
|
RSS | 2007 | 257 |
| Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm.
|
IROS | 2006 | 633 |