Bibliography

Theses

2011

Sami Haddadin, Towards Safe Robots: Approaching Asimov’s 1st Law, Ph.D. thesis, RWTH Aachen University, 2011. PDF

Books

2014

Sami Haddadin, Towards Safe Robots - Approaching Asimov’s 1st Law, Springer, 2014. Project Page DOI: 10.1007/978-3-642-40308-8

Book chapters

2016

Sami Haddadin, Elizabeth A. Croft, Physical Human-Robot Interaction, Springer Handbook of Robotics, Springer, pp. 1835–1874, 2016. Project Page DOI: 10.1007/978-3-319-32552-1_69

Journal articles

2026

Seyed Ali Baradaran Birjandi, Sami Haddadin, Fault-tolerant decentralized multi-sensor link velocity and acceleration estimation for elastic-joint robots, The International Journal of Robotics Research, vol. 0, no. 0, pp. 02783649251401930, 2026. Project Page DOI: 10.1177/02783649251401930

2025

Andrew I. Cooper, Patrick Courtney, Kourosh Darvish, Moritz Eckhoff, Hatem Fakhruldeen, Andrea Gabrielli, Animesh Garg, Sami Haddadin, Kanako Harada, Jason Hein, Maria Hübner, Dennis Knobbe, Gabriella Pizzuto, Florian Shkurti, Ruja Shrestha, Kerstin Thurow, Rafael Vescovi, Birgit Vogel-Heuser, Ádám Wolf, Naruki Yoshikawa, Yan Zeng, Zhengxue Zhou, Henning Zwirnmann, Accelerating discovery in natural science laboratories with AI and robotics: Perspectives and challenges, Sci. Robotics, vol. 10, no. 106, 2025. Project Page DOI: 10.1126/SCIROBOTICS.ADV7932
Sonja Groß, Lingyun Chen, Edmundo Pozo Fortunić, Manuel Krummschmidt, Johannes Ringwald, Amartya Ganguly, Sami Haddadin, Tactile Sensor Elements Based on Commercial Components: An Experimental Comparison, IEEE Sensors Journal, vol. 25, no. 20, pp. 37802-37809, 2025. Project Page DOI: 10.1109/JSEN.2025.3606565
Lars Johannsmeier, Samuel Schneider, Yanan Li, Etienne Burdet, Sami Haddadin, A process-centric manipulation taxonomy for the organization, classification and synthesis of tactile robot skills, Nature Machine Intelligence, vol. 7, pp. 916-927, 2025. Project Page DOI: 10.1038/s42256-025-01045-3
Robin Jeanne Kirschner, Kübra Karacan, Alessandro Melone, Sami Haddadin, Categorizing robots by performance fitness into the tree of robots, Nat. Mac. Intell., vol. 7, no. 3, pp. 459–470, 2025. Project Page DOI: 10.1038/S42256-025-00995-Y
Leilaalsadat Pezeshki, Hamid Sadeghian, Abolfazl Mohebbi, Mehdi Keshmiri, Sami Haddadin, Personalized Assistance in Robotic Rehabilitation: Real-Time Adaptation via Energy-Based Performance Monitoring, IEEE Trans Autom. Sci. Eng., vol. 22, pp. 13298–13309, 2025. Project Page DOI: 10.1109/TASE.2025.3552446
Erfan Shahriari, Johannes Lachner, Sami Haddadin, Neville Hogan, Minimally-Back-Drivable Robots for Rehabilitation: Path-Adherent Permissiveness Control via Trajectory Adaptation, IEEE Robotics Autom. Lett., vol. 10, no. 8, pp. 7835–7842, 2025. Project Page DOI: 10.1109/LRA.2025.3578848
Erfan Shahriari, Petr Svarný, Seyed Ali Baradaran Birjandi, Matej Hoffmann, Sami Haddadin, Path-Constrained Haptic Motion Guidance via Adaptive Phase-Based Admittance Control, IEEE Trans. Robotics, vol. 41, pp. 1039–1058, 2025. Project Page DOI: 10.1109/TRO.2024.3521861
Cesare Tonola, Marco Faroni, Saeed Abdolshah, Mazin Hamad, Sami Haddadin, Nicola Pedrocchi, Manuel Beschi, Reactive and Safety-Aware Path Replanning for Collaborative Applications, IEEE Trans Autom. Sci. Eng., vol. 22, pp. 21456–21468, 2025. Project Page DOI: 10.1109/TASE.2025.3607037
Florian Voigt, Abdeldjallil Naceri, Sami Haddadin, Learning Wrist Policies for Anthropomorphic Soft Power Grasping in Handle and Door Manipulation, IEEE Trans. Robotics, vol. 41, pp. 3738–3759, 2025. Project Page DOI: 10.1109/TRO.2025.3576950
Jonathan Vorndamme, Alessandro Melone, Robin Jeanne Kirschner, Luis F. C. Figueredo, Sami Haddadin, Safe Robot Reflexes: A Taxonomy-Based Decision and Modulation Framework, IEEE Trans. Robotics, vol. 41, pp. 982–1001, 2025. Project Page DOI: 10.1109/TRO.2024.3519421
Liding Zhang, Kuanqi Cai, Yu Zhang, Zhenshan Bing, Chaoqun Wang, Fan Wu, Sami Haddadin, Alois Knoll, Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler, IEEE Trans Autom. Sci. Eng., vol. 22, pp. 18580–18593, 2025. Project Page DOI: 10.1109/TASE.2025.3590084
Liding Zhang, Yao Ling, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll, Tree-Based Grafting Approach for Bidirectional Motion Planning With Local Subsets Optimization, IEEE Robotics Autom. Lett., vol. 10, no. 6, pp. 5815–5822, 2025. Project Page DOI: 10.1109/LRA.2025.3562369
Liding Zhang, Sicheng Wang, Kuanqi Cai, Zhenshan Bing, Fan Wu, Chaoqun Wang, Sami Haddadin, Alois Knoll, APT: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors*, IEEE Robotics Autom. Lett., vol. 10, no. 10, pp. 10242–10249, 2025. Project Page DOI: 10.1109/LRA.2025.3598616

2024

Marvin Becker, Philipp Caspers, Torsten Lilge, Sami Haddadin, Matthias Albrecht Müller, Informed circular fields: a global reactive obstacle avoidance framework for robotic manipulators, Frontiers Robotics AI, vol. 11, 2024. Project Page DOI: 10.3389/FROBT.2024.1447351
Marvin Becker, Johannes Köhler, Sami Haddadin, Matthias Albrecht Müller, Motion Planning Using Reactive Circular Fields: A 2-D Analysis of Collision Avoidance and Goal Convergence, IEEE Trans. Autom. Control., vol. 69, no. 3, pp. 1552–1567, 2024. Project Page DOI: 10.1109/TAC.2023.3303168
Sami Haddadin, The Franka Emika Robot: A Standard Platform in Robotics Research [Survey], IEEE Robotics Autom. Mag., vol. 31, no. 4, pp. 136–148, 2024. Project Page DOI: 10.1109/MRA.2024.3451788
Sami Haddadin, Erfan Shahriari, Unified force-impedance control, Int. J. Robotics Res., vol. 43, no. 13, pp. 2112–2141, 2024. Project Page DOI: 10.1177/02783649241249194
Johannes Kühn, Tingli Hu, Alexander Toedtheide, Edmundo Pozo Fortunic, Elisabeth Rose Jensen, Sami Haddadin, The synergy complement control approach for seamless limb-driven prostheses, Nat. Mac. Intell., vol. 6, no. 4, pp. 481–492, 2024. Project Page DOI: 10.1038/S42256-024-00825-7
Riddhiman Laha, Marvin Becker, Jonathan Vorndamme, Juraj Vrabel, Luis F. C. Figueredo, Matthias Albrecht Müller, Sami Haddadin, Predictive Multi-Agent-Based Planning and Landing Controller for Reactive Dual-Arm Manipulation, IEEE Trans. Robotics, vol. 40, pp. 864–885, 2024. Project Page DOI: 10.1109/TRO.2023.3341689
Junnan Li, Amartya Ganguly, Luis F. C. Figueredo, Sami Haddadin, The Fingertip Manipulability Assessment of Tendon-Driven Multi-Fingered Hands, IEEE Robotics Autom. Lett., vol. 9, no. 3, pp. 2726–2733, 2024. Project Page DOI: 10.1109/LRA.2024.3360816
Sergi Molina Mellado, Anna Mannucci, Martin Magnusson, Daniel Adolfsson, Henrik Andreasson, Mazin Hamad, Saeed Abdolshah, Ravi Teja Chadalavada, Luigi Palmieri, Timm Linder, Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, Marc Hanheide, Manuel Fernández-Carmona, Grzegorz Cielniak, Tom Duckett, Federico Pecora, Simon Bokesand, Kai O. Arras, Sami Haddadin, Achim J. Lilienthal, The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots, IEEE Robotics Autom. Mag., vol. 31, no. 3, pp. 48–59, 2024. Project Page DOI: 10.1109/MRA.2023.3296983
Simone Nertinger, Robin Jeanne Kirschner, Abdeldjallil Naceri, Sami Haddadin, Acceptance of Remote Assistive Robots with and without Human-in-the-Loop for Healthcare Applications, Int. J. Soc. Robotics, vol. 16, no. 6, pp. 1131–1150, 2024. Project Page DOI: 10.1007/S12369-022-00931-9
Kangwagye Samuel, Kevin Haninger, Roberto Oboe, Sami Haddadin, Sehoon Oh, A Perturbation-Robust Framework for Admittance Control of Robotic Systems With High-Stiffness Contacts and Heavy Payload, IEEE Robotics Autom. Lett., vol. 9, no. 7, pp. 6432–6439, 2024. Project Page DOI: 10.1109/LRA.2024.3406055
Peter So, Andriy Sarabakha, Fan Wu, Utku Culha, Fares J. Abu-Dakka, Sami Haddadin, Digital Robot Judge: Building a Task-Centric Performance Database of Real-World Manipulation With Electronic Task Boards, IEEE Robotics Autom. Mag., vol. 31, no. 4, pp. 32–44, 2024. Project Page DOI: 10.1109/MRA.2023.3336473
Alexander Toedtheide, Edmundo Pozo Fortunic, Johannes Kühn, Elisabeth Rose Jensen, Sami Haddadin, A transhumeral prosthesis with an artificial neuromuscular system: Sim2real-guided design, modeling, and control, Int. J. Robotics Res., vol. 43, no. 7, pp. 942–980, 2024. Project Page DOI: 10.1177/02783649231218719
Nikolas J. Wilhelm, Claudio E. von Schacky, Felix J. Lindner, Matthias J. Feucht, Yannick Ehmann, Jonas Pogorzelski, Sami Haddadin, Jan Neumann, Florian Hinterwimmer, Rüdiger von Eisenhart-Rothe, Matthias Jung, Maximilian F. Russe, Kaywan Izadpanah, Sebastian Siebenlist, Rainer Burgkart, Marco-Christopher Rupp, Multicentric development and validation of a multi-scale and multi-task deep learning model for comprehensive lower extremity alignment analysis, Artif. Intell. Medicine, vol. 150, pp. 102843, 2024. Project Page DOI: 10.1016/J.ARTMED.2024.102843
Haowen Yao, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin, Enhanced Dexterity Maps (EDM): A New Map for Manipulator Capability Analysis, IEEE Robotics Autom. Lett., vol. 9, no. 2, pp. 1628–1635, 2024. Project Page DOI: 10.1109/LRA.2023.3345695

2023

Marvin Becker, Philipp Caspers, Tom Hattendorf, Torsten Lilge, Sami Haddadin, Matthias A. M√ºller, Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators, IFAC-PapersOnLine, vol. 56, no. 2, pp. 1017-1022, 2023. Project Page DOI: https://doi.org/10.1016/j.ifacol.2023.10.1698
Edmundo Pozo Fortunic, Mehmet Can Yildirim, Dennis Ossadnik, Abdalla Swikir, Saeed Abdolshah, Sami Haddadin, Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept, IEEE Robotics Autom. Lett., vol. 8, no. 12, pp. 8106–8113, 2023. Project Page DOI: 10.1109/LRA.2023.3325782
Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T.M. Kussaba, Nico Mansfeld, Saeed Abdolshah, Abdalla Swikir, Wolfram Burgard, Sami Haddadin, Fast yet predictable braking manoeuvers for real-time robot control, IFAC-PapersOnLine, vol. 56, no. 2, pp. 9984-9991, 2023. Project Page DOI: https://doi.org/10.1016/j.ifacol.2023.10.711
Mazin Hamad, Alexander Kurdas, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots, IEEE Trans. Robotics, vol. 39, no. 4, pp. 3200–3221, 2023. Project Page DOI: 10.1109/TRO.2023.3257515
Juan Heredia, Robin Jeanne Kirschner, Christian Schlette, Saeed Abdolshah, Sami Haddadin, Mikkel Baun Kjærgaard, ECDP: Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots, IEEE Robotics Autom. Lett., vol. 8, no. 10, pp. 6107–6114, 2023. Project Page DOI: 10.1109/LRA.2023.3301311
Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma Carolina Bettelani, Jaesug Jung, Melissa Zavaglia, Laura Busse, Abdeldjallil Naceri, Stefan Leutenegger, Sami Haddadin, Anthropomorphic Grasping With Neural Object Shape Completion, IEEE Robotics Autom. Lett., vol. 8, no. 12, pp. 8034–8041, 2023. Project Page DOI: 10.1109/LRA.2023.3322086
K√ºbra Karacan, Divij Grover, Hamid Sadeghian, Fan Wu, Sami Haddadin, Tactile Exploration Using Unified Force-Impedance Control, IFAC-PapersOnLine, vol. 56, no. 2, pp. 5015-5020, 2023. Project Page DOI: https://doi.org/10.1016/j.ifacol.2023.10.1279
Fernando Diaz Ledezma, Sami Haddadin, Machine learning-driven self-discovery of the robot body morphology, Sci. Robotics, vol. 8, no. 85, 2023. Project Page DOI: 10.1126/SCIROBOTICS.ADH0972
Dennis Ossadnik, Sami Haddadin, Cross-coupling stiffness for natural goal-directed robot motion, IFAC-PapersOnLine, vol. 56, no. 2, pp. 1038-1044, 2023. Project Page DOI: https://doi.org/10.1016/j.ifacol.2023.10.1701
Leilaalsadat Pezeshki, Hamid Sadeghian, Mehdi Keshmiri, Xiao Chen, Sami Haddadin, Cooperative Assist-as-Needed Control for Robotic Rehabilitation: A Two-Player Game Approach, IEEE Robotics Autom. Lett., vol. 8, no. 5, pp. 2852–2859, 2023. Project Page DOI: 10.1109/LRA.2023.3261750
Benn Proper, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin, Alessandro Saccon, Aim-Aware Collision Monitoring: Discriminating Between Expected and Unexpected Post-Impact Behaviors, IEEE Robotics Autom. Lett., vol. 8, no. 8, pp. 4609–4616, 2023. Project Page DOI: 10.1109/LRA.2023.3284371
Johannes Ringwald, Samuel Schneider, Lingyun Chen, Dennis Knobbe, Lars Johannsmeier, Abdalla Swikir, Sami Haddadin, Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics, IEEE Robotics Autom. Lett., vol. 8, no. 3, pp. 1866–1873, 2023. Project Page DOI: 10.1109/LRA.2023.3241757
Johannes Ringwald, Shaochuan Zong, Abdalla Swikir, Sami Haddadin, Automatic Gripper-Finger Design, Production, and Application: Toward Fast and Cost-Effective Small-Batch Production, IEEE Robotics Autom. Mag., vol. 30, no. 2, pp. 46–56, 2023. Project Page DOI: 10.1109/MRA.2023.3269404
Alexander Toedtheide, Edmundo Pozo Fortunic, Johannes Kühn, Elisabeth Rose Jensen, Sami Haddadin, A Wearable Force-Sensitive and Body-Aware Exoprosthesis for a Transhumeral Prosthesis Socket, IEEE Trans. Robotics, vol. 39, no. 3, pp. 2203–2223, 2023. Project Page DOI: 10.1109/TRO.2023.3251947
Nikolas J. Wilhelm, Constantin von Deimling, Sami Haddadin, Claudio Glowalla, Rainer Burgkart, Validation of a Robotic Testbench for Evaluating Biomechanical Effects of Implant Rotation in Total Knee Arthroplasty on a Cadaveric Specimen, Sensors, vol. 23, no. 17, pp. 7459, 2023. Project Page DOI: 10.3390/S23177459
Henning Zwirnmann, Dennis Knobbe, Sami Haddadin, Towards End-to-End Automated Microscopy Control using Holotomography: Workflow Design and Data Management, IFAC-PapersOnLine, vol. 56, no. 2, pp. 6477-6483, 2023. Project Page DOI: https://doi.org/10.1016/j.ifacol.2023.10.862

2022

Jean Elsner, Gerhard Reinerth, Luis F. C. Figueredo, Abdeldjallil Naceri, Ulrich Walter, Sami Haddadin, PARTI-A Haptic Virtual Reality Control Station for Model-Mediated Robotic Applications, Frontiers Virtual Real., vol. 3, 2022. Project Page DOI: 10.3389/FRVIR.2022.925794
Sami Haddadin, Sven Parusel, Lars Johannsmeier, Saskia Golz, Simon Gabl, Florian Walch, Mohamadreza Sabaghian, Christoph Jähne, Lukas Hausperger, Simon Haddadin, The Franka Emika Robot: A Reference Platform for Robotics Research and Education, IEEE Robotics Autom. Mag., vol. 29, no. 2, pp. 46–64, 2022. Project Page DOI: 10.1109/MRA.2021.3138382
Diego Hidalgo-Carvajal, Christopher Herneth, Abdeldjallil Naceri, Sami Haddadin, End-to-End From Human Hand Synergies to Robot Hand Tendon Routing, IEEE Robotics Autom. Lett., vol. 7, no. 4, pp. 10057–10064, 2022. Project Page DOI: 10.1109/LRA.2022.3192649
Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction, IEEE Robotics Autom. Lett., vol. 7, no. 2, pp. 2993–3000, 2022. Project Page DOI: 10.1109/LRA.2022.3144535
Abdeldjallil Naceri, Jean Elsner, Mario Tröbinger, Hamid Sadeghian, Lars Johannsmeier, Florian Voigt, Xiao Chen, Daniela Macari, Christoph Jähne, Maximilian Berlet, Jonas Fuchtmann, Luis F. C. Figueredo, Hubertus Feußner, Dirk Wilhelm, Sami Haddadin, Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study, IEEE Robotics Autom. Lett., vol. 7, no. 4, pp. 10296–10303, 2022. Project Page DOI: 10.1109/LRA.2022.3191563
Erfan Shahriari, Seyed Ali Baradaran Birjandi, Sami Haddadin, Passivity-Based Adaptive Force-Impedance Control for Modular Multi-Manual Object Manipulation, IEEE Robotics Autom. Lett., vol. 7, no. 2, pp. 2194–2201, 2022. Project Page DOI: 10.1109/LRA.2022.3142903
Nikolas Jakob Wilhelm, Sami Haddadin, Jan Josef Lang, Carina Micheler, Florian Hinterwimmer, Anselm Reiners, Rainer Burgkart, Claudio Glowalla, Development of an Exoskeleton Platform of the Finger for Objective Patient Monitoring in Rehabilitation, Sensors, vol. 22, no. 13, pp. 4804, 2022. Project Page DOI: 10.3390/S22134804

2021

Marvin Becker, Torsten Lilge, Matthias A. Müller, Sami Haddadin, Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning, IEEE Robotics Autom. Lett., vol. 6, no. 2, pp. 2618–2625, 2021. Project Page DOI: 10.1109/LRA.2021.3061997
Thomas Dickmann, Nikolas J. Wilhelm, Claudio Glowalla, Sami Haddadin, Patrick van der Smagt, Rainer Burgkart, An Adaptive Mechatronic Exoskeleton for Force-Controlled Finger Rehabilitation, Frontiers Robotics AI, vol. 8, pp. 716451, 2021. Project Page DOI: 10.3389/FROBT.2021.716451
Jonas Fuchtmann, Roman Krumpholz, Maximilian Berlet, Daniel Ostler, Hubertus Feussner, Sami Haddadin, Dirk Wilhelm, COVID-19 and beyond: development of a comprehensive telemedical diagnostic framework, Int. J. Comput. Assist. Radiol. Surg., vol. 16, no. 8, pp. 1403–1412, 2021. Project Page DOI: 10.1007/S11548-021-02424-Y
Johannes Kuehn, Carlo Bagnato, Etienne Burdet, Sami Haddadin, Arm movement adaptation to concurrent pain constraints, Scientific Reports, vol. 11, 2021. Project Page DOI: 10.1038/s41598-021-86173-7
Nico Mansfeld, Manuel Keppler, Sami Haddadin, Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach, IEEE Robotics Autom. Lett., vol. 6, no. 3, pp. 4600–4607, 2021. Project Page DOI: 10.1109/LRA.2021.3068698
Alessandro Palleschi, Mazin Hamad, Saeed Abdolshah, Manolo Garabini, Sami Haddadin, Lucia Pallottino, Fast and Safe Trajectory Planning: Solving the Cobot Performance/Safety Trade-Off in Human-Robot Shared Environments, IEEE Robotics Autom. Lett., vol. 6, no. 3, pp. 5445–5452, 2021. Project Page DOI: 10.1109/LRA.2021.3076968
Veronika Spieker, Amartya Ganguly, Sami Haddadin, Cristina Piazza, An Adaptive Multi-Modal Control Strategy to Attenuate the Limb Position Effect in Myoelectric Pattern Recognition, Sensors, vol. 21, no. 21, pp. 7404, 2021. Project Page DOI: 10.3390/S21217404
Mario Tröbinger, Christoph Jähne, Zheng Qu, Jean Elsner, Anton Reindl, Sebastian Getz, Thore Goll, Benjamin Loinger, Tamara Loibl, Christoph Kugler, Carles Calafell, Mohamadreza Sabaghian, Tobias Ende, Daniel Wahrmann, Sven Parusel, Simon Haddadin, Sami Haddadin, Introducing GARMI - A Service Robotics Platform to Support the Elderly at Home: Design Philosophy, System Overview and First Results, IEEE Robotics Autom. Lett., vol. 6, no. 3, pp. 5857–5864, 2021. Project Page DOI: 10.1109/LRA.2021.3082012

2020

Seyed Ali Baradaran Birjandi, Sami Haddadin, Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators, IEEE Robotics Autom. Lett., vol. 5, no. 4, pp. 6544–6551, 2020. Project Page DOI: 10.1109/LRA.2020.3015187
Seyed Ali Baradaran Birjandi, Johannes Kühn, Sami Haddadin, Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing, IEEE Robotics Autom. Lett., vol. 5, no. 2, pp. 954–961, 2020. Project Page DOI: 10.1109/LRA.2020.2967287
Stuart McLennan, Amelia Fiske, Leo Anthony Celi, Ruth Müller, Jan Harder, Konstantin Ritt, Sami Haddadin, Alena Buyx, An embedded ethics approach for AI development, Nat. Mach. Intell., vol. 2, no. 9, pp. 488–490, 2020. Project Page DOI: 10.1038/S42256-020-0214-1
Erfan Shahriari, Lars Johannsmeier, Elisabeth Rose Jensen, Sami Haddadin, Power Flow Regulation, Adaptation, and Learning for Intrinsically Robust Virtual Energy Tanks, IEEE Robotics Autom. Lett., vol. 5, no. 1, pp. 211–218, 2020. Project Page DOI: 10.1109/LRA.2019.2953662
Teodor Tomic, Philipp Lutz, Korbinian Schmid, Andrew Mathers, Sami Haddadin, Simultaneous contact and aerodynamic force estimation (s-CAFE) for aerial robots, Int. J. Robotics Res., vol. 39, no. 6, 2020. Project Page DOI: 10.1177/0278364920904788

2019

Sami Haddadin, Lars Johannsmeier, Fernando Diaz Ledezma, Tactile Robots as a Central Embodiment of the Tactile Internet, Proc. IEEE, vol. 107, no. 2, pp. 471–487, 2019. Project Page DOI: 10.1109/JPROC.2018.2879870

2018

Sami Haddadin, Kai Krieger, Alin Albu-Schäffer, Torsten Lilge, Exploiting Elastic Energy Storage for “Blind” Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling, IEEE Trans. Robotics, vol. 34, no. 1, pp. 91–112, 2018. Project Page DOI: 10.1109/TRO.2017.2765684
Yanan Li, Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet, Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification, IEEE Trans. Robotics, vol. 34, no. 5, pp. 1170–1182, 2018. Project Page DOI: 10.1109/TRO.2018.2830405
Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin, Sami Haddadin, Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties, IEEE Robotics Autom. Lett., vol. 3, no. 3, pp. 1880–1887, 2018. Project Page DOI: 10.1109/LRA.2018.2801477
Alexander Toedtheide, Sami Haddadin, CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists, IEEE Robotics Autom. Lett., vol. 3, no. 4, pp. 3537–3544, 2018. Project Page DOI: 10.1109/LRA.2018.2853802

2017

Sami Haddadin, Passivitätsbasierte Kraft- und Impedanzregelung für Roboter mit starren Gelenken mittels Energietanks, Autom., vol. 65, no. 2, pp. 124–133, 2017. Project Page DOI: 10.1515/AUTO-2016-0108
Sami Haddadin, Alessandro De Luca, Alin Albu-Schäffer, Robot Collisions: A Survey on Detection, Isolation, and Identification, IEEE Trans. Robotics, vol. 33, no. 6, pp. 1292–1312, 2017. Project Page DOI: 10.1109/TRO.2017.2723903
Lars Johannsmeier, Sami Haddadin, A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes, IEEE Robotics Autom. Lett., vol. 2, no. 1, pp. 41–48, 2017. Project Page DOI: 10.1109/LRA.2016.2535907
Johannes Kuehn, Sami Haddadin, An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts, IEEE Robotics Autom. Lett., vol. 2, no. 1, pp. 72–79, 2017. Project Page DOI: 10.1109/LRA.2016.2536360
Teodor Tomic, Christian Ott, Sami Haddadin, External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots, IEEE Trans. Robotics, vol. 33, no. 6, pp. 1467–1482, 2017. Project Page DOI: 10.1109/TRO.2017.2750703

2016

Borut Povse, Sami Haddadin, Rico Belder, Darko Koritnik, Tadej Bajd, A tool for the evaluation of human lower arm injury: approach, experimental validation and application to safe robotics, Robotica, vol. 34, no. 11, pp. 2499–2515, 2016. Project Page DOI: 10.1017/S0263574715000156
Alexander Toedtheide, Torsten Lilge, Sami Haddadin, Antagonistic Impedance Control for Pneumatically Actuated Robot Joints, IEEE Robotics Autom. Lett., vol. 1, no. 1, pp. 161–168, 2016. Project Page DOI: 10.1109/LRA.2015.2511663

2015

Jung-Jun Park, Jae-Bok Song, Sami Haddadin, Collision analysis and safety evaluation using a collision model for the frontal robot-human impact, Robotica, vol. 33, no. 7, pp. 1536–1550, 2015. Project Page DOI: 10.1017/S0263574714000137
Jörn Vogel, Sami Haddadin, Beata Jarosiewicz, John D. Simeral, Daniel Bacher, Leigh R. Hochberg, John P. Donoghue, Patrick van der Smagt, An assistive decision-and-control architecture for force-sensitive hand-arm systems driven by human-machine interfaces, Int. J. Robotics Res., vol. 34, no. 6, pp. 763–780, 2015. Project Page DOI: 10.1177/0278364914561535

2014

Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer, Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion, Autom., vol. 62, no. 3, pp. 175–187, 2014. Project Page DOI: 10.1515/AUTO-2012-0236

2013

David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar, Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints, IEEE Trans. Robotics, vol. 29, no. 5, pp. 1085–1101, 2013. Project Page DOI: 10.1109/TRO.2013.2271099
Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Oliver Eiberger, Werner Friedl, Ganesh Ganesh, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Hannes Höppner, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf, Variable impedance actuators: A review, Robotics Auton. Syst., vol. 61, no. 12, pp. 1601–1614, 2013. Project Page DOI: 10.1016/J.ROBOT.2013.06.009

2012

Markus Grebenstein, Maxime Chalon, Werner Friedl, Sami Haddadin, Thomas Wimböck, Gerd Hirzinger, Roland Siegwart, The hand of the DLR Hand Arm System: Designed for interaction, Int. J. Robotics Res., vol. 31, no. 13, pp. 1531–1555, 2012. Project Page DOI: 10.1177/0278364912459209
Sami Haddadin, Paolo Robuffo Giordano, Angelika Peer, Editorial, Int. J. Robotics Res., vol. 31, no. 13, pp. 1529–1530, 2012. Project Page DOI: 10.1177/0278364912464705
Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer, On making robots understand safety: Embedding injury knowledge into control, Int. J. Robotics Res., vol. 31, no. 13, pp. 1578–1602, 2012. Project Page DOI: 10.1177/0278364912462256
Leigh R. Hochberg, Daniel Bacher, Beata Jarosiewicz, Nicolas Y. Masse, John D. Simeral, Joern Vogel, Sami Haddadin, Jie Liu, Sydney S. Cash, Patrick van der Smagt, others, Reach and grasp by people with tetraplegia using a neurally controlled robotic arm, Nature, vol. 485, no. 7398, pp. 372–375, 2012. Project Page DOI: 10.1038/nature11076
Chavdar Papazov, Sami Haddadin, Sven Parusel, Kai Krieger, Darius Burschka, Rigid 3D geometry matching for grasping of known objects in cluttered scenes, Int. J. Robotics Res., vol. 31, no. 4, pp. 538–553, 2012. Project Page DOI: 10.1177/0278364911436019

2011

Sami Haddadin, Rico Belder, Alin Albu-Sch√§ffer, Dynamic Motion Planning for Robots in Partially Unknown Environments*, IFAC Proceedings Volumes, vol. 44, no. 1, pp. 6842-6850, 2011. Project Page DOI: https://doi.org/10.3182/20110828-6-IT-1002.02500
Sami Haddadin, Michael Weis, Sebastian Wolf, Alin Albu-Sch√§ffer, Optimal Control for Maximizing Link Velocity of Robotic Variable Stiffness Joints, IFAC Proceedings Volumes, vol. 44, no. 1, pp. 6863-6871, 2011. Project Page DOI: https://doi.org/10.3182/20110828-6-IT-1002.01686
Chenguang Yang, Ganesh Gowrishankar, Sami Haddadin, Sven Parusel, Alin Albu-Schäffer, Etienne Burdet, Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions, IEEE Trans. Robotics, vol. 27, no. 5, pp. 918–930, 2011. Project Page DOI: 10.1109/TRO.2011.2158251

2010

Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger, Safety Analysis for a Human-Friendly Manipulator, Int. J. Soc. Robotics, vol. 2, no. 3, pp. 235–252, 2010. Project Page DOI: 10.1007/S12369-010-0053-Z
Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger, Konzepte für den Roboterassistenten der Zukunft (Towards the Robotic Co-Worker), Autom., vol. 58, no. 12, pp. 695–709, 2010. Project Page DOI: 10.1524/AUTO.2010.0888

2009

Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger, Requirements for Safe Robots: Measurements, Analysis and New Insights, Int. J. Robotics Res., vol. 28, no. 11-12, pp. 1507–1527, 2009. Project Page DOI: 10.1177/0278364909343970
Sami Haddadin, Tim Laue, Udo Frese, Sebastian Wolf, Alin Albu-Schäffer, Gerd Hirzinger, Kick it with elasticity: Safety and performance in human-robot soccer, Robotics Auton. Syst., vol. 57, no. 8, pp. 761–775, 2009. Project Page DOI: 10.1016/J.ROBOT.2009.03.004

2008

Alin Albu-Schäffer, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimböck, Sebastian Wolf, Gerd Hirzinger, Soft robotics, IEEE Robotics Autom. Mag., vol. 15, no. 3, pp. 20–30, 2008. Project Page DOI: 10.1109/MRA.2008.927979

2007

Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Gerhard Hirzinger, The DLR lightweight robot: design and control concepts for robots in human environments, Ind. Robot, vol. 34, no. 5, pp. 376–385, 2007. Project Page DOI: 10.1108/01439910710774386

Conference papers

2025

Shreenabh Agrawal, Hugo T. M. Kussaba, Lingyun Chen, Allen Emmanuel Binny, Pushpak Jagtap, Sami Haddadin, Abdalla Swikir, Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 9917–9923, 2025. Project Page DOI: 10.1109/IROS60139.2025.11247176
Julius Ambros, Valentin Le Mesle, Laura Tissari, Hendrik Börner, Helfried Peyrl, Tim C. Lüth, Sami Haddadin, Design Optimization of a Single-DoF Gait Rehabilitation Robot for a Domestic Environment, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 18153–18159, 2025. Project Page DOI: 10.1109/IROS60139.2025.11246005
Jicong Ao, Fan Wu, Yansong Wu, Abdalla Swikir, Sami Haddadin, LLM-as-BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 1233–1239, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11128454
Lukas Cha, Sonja Groß, Shuai Mao, Tim Braun, Sami Haddadin, Liang He, Stretchable Capacitive and Resistive Strain Sensors: Accessible Manufacturing Using Direct Ink Writing, in Proceedings of 8th IEEE International Conference on Soft Robotics, RoboSoft 2025, Lausanne, Switzerland, April 22-26, 2025, pp. 1–6, 2025. Project Page DOI: 10.1109/ROBOSOFT63089.2025.11020898
Kejia Chen, Zheng Shen, Yue Zhang, Lingyun Chen, Fan Wu, Zhenshan Bing, Sami Haddadin, Alois Knoll, LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 11972–11978, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11127842
Lingyun Chen, Xinrui Zhao, Marcos P. S. Campanha, Alexander Wegener, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin, Enhanced Robotic Navigation in Deformable Environments using Learning from Demonstration and Dynamic Modulation, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 9940–9947, 2025. Project Page DOI: 10.1109/IROS60139.2025.11247327
Moein Forouhar, Hamid Sadeghian, Yu Li, Sami Haddadin, Model Predictive Control for Cable-Driven Remote Actuation Systems with Friction and Compliance, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 20473–20478, 2025. Project Page DOI: 10.1109/IROS60139.2025.11245958
Moein Forouhar, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin, Whole-Body Impedance Control of Service Robot GARMI with Non-Holonomic Constraint, in Proceedings of 24th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2025, Seoul, Republic of Korea, September 30 - October 2, 2025, pp. 1109–1114, 2025. Project Page DOI: 10.1109/HUMANOIDS65713.2025.11203174
Moein Forouhar, Hamid Sadeghian, Abdeldjallil Naceri, Alexander König, Sami Haddadin, A Whole-Body Unified Force-Impedance Control for Non-holonomic Service Robots, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 3307–3313, 2025. Project Page DOI: 10.1109/IROS60139.2025.11246161
Christopher Herneth, Yi Cheng, Amartya Ganguly, Sami Haddadin, Tension Dependent Twisted String Actuator Modelling and Efficacy Benchmarking in Force and Impedance Control, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 5075–5081, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11127389
Robin Jeanne Kirschner, Sebastian Siegner, Kübra Karacan, Sami Haddadin, The Foundation for Tactile Robots: Approaching the Holistic Analysis of a Robot’s Force Sensing Capabilities, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 8902–8909, 2025. Project Page DOI: 10.1109/IROS60139.2025.11246184
Dennis Knobbe, Johann J. W. Standke, Sami Haddadin, Enhancing Robotic Perception with Low-Cost Fast Active Vision Achieving Sub-Millimeter Accurate Marker-Based Pose Estimation, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 12379–12385, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11127902
Alessandro Melone, Robin Jeanne Kirschner, Dirk Müller, Abdalla Swikir, Sami Haddadin, MonLog: MONotonic-Constrained LOGistic Regressions for Automated Safety Curve Design, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 14315–14322, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11128207
Diego Fernandez Prado, Xiao Chen, Jean Elsner, Hamid Sadeghian, Nader Rajaei, Abdeldjallil Naceri, Sami Haddadin, Eckehard G. Steinbach, Model-Mediated Teleoperation with 3D Dynamic Environment Tracking (MMT-DET): A Comparative Study of Task Performance with Time-Domain Passivity Control, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 17398–17404, 2025. Project Page DOI: 10.1109/IROS60139.2025.11247675
Vasilije Rakcevic, Dennis Ossadnik, Edmundo Pozo Fortunic, Mehmet Can Yildirim, Valentin Le Mesle, Sami Haddadin, Braking Control in Clutched-Elastic Robots: Coordinating the Underactuation-to-Actuation Transition, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 20467–20472, 2025. Project Page DOI: 10.1109/IROS60139.2025.11246742
Peter So, Abdalla Swikir, Fares J. Abu-Dakka, Sami Haddadin, Evaluating Human-Robot Skill Gaps in Electrical Circuit Inspection: A New Electronic Task Board for Benchmarking Manipulation, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 15292–15298, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11128714
Ainoor Teimoorzadeh, Andrea Pupa, Mario Selvaggio, Sami Haddadin, Robust Nonprehensile Dynamic Object Transportation: A Closed-Loop Sensitivity Approach, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 9192–9198, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11127885
Niklas Trekel, Nathalie Bauschmann, Thies L. Alff, Daniel A Duecker, Sami Haddadin, Robert Seifried, Dynamic End Effector Trajectory Tracking for Small-Scale Underwater Vehicle-Manipulator Systems (UVMS): Modeling, Control, and Experimental Validation, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 4145–4151, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11128667
Mario Tröbinger, Abdeldjallil Naceri, Hamid Sadeghian, Sami Haddadin, Frozen Triumph: Lessons from GARMI’s Bimanual Trophy Handover at the Kandahar Ski World Cup - Shaping Current Research Directions, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 2646–2652, 2025. Project Page DOI: 10.1109/IROS60139.2025.11246754
Florian Voigt, Abdeldjallil Naceri, Sami Haddadin, Introducing Collaborative Robots as a First Step Towards Autonomous Reprocessing of Medical Equipment, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 15886–15892, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11127893
Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Sami Haddadin, Alois Knoll, TacDiffusion: Force-Domain Diffusion Policy for Precise Tactile Manipulation, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 11831–11837, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11127334
Haowen Yao, Riddhiman Laha, Anirban Sinha, Jonas Hall, Luis F. C. Figueredo, Nilanjan Chakraborty, Sami Haddadin, On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-Based Approach, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 16147–16154, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11127913
Mehmet Can Yildirim, Dee Hva Choong, Johannes Ringwald, Robin Jeanne Kirschner, Valentin Le Mesle, Sami Haddadin, Investigating the Fitness of Finger Grippers for Dynamic Tactile Manipulation Under Static Object Conditions, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 10800–10807, 2025. Project Page DOI: 10.1109/IROS60139.2025.11247504
Mehmet Can Yildirim, Edmundo Pozo Fortunic, Dennis Ossadnik, Vasilije Rakcevic, Kangwagye Samuel, Abdalla Swikir, Valentin Le Mesle, Sami Haddadin, IBSA Joint: A Fully Integrated Bi-Stiffness Actuator Joint for Precise Energy Transfer Timing in Explosive Motion Tasks, in Proceedings of 24th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2025, Seoul, Republic of Korea, September 30 - October 2, 2025, pp. 546–553, 2025. Project Page DOI: 10.1109/HUMANOIDS65713.2025.11203116
Liding Zhang, Kejia Chen, Kuanqi Cai, Yu Zhang, Yixuan Dang, Yansong Wu, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll, Direction Informed Trees (DIT): Optimal Path Planning via Direction Filter and Direction Cost Heuristic*, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 1766–1772, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11127725
Liding Zhang, Yankun Wei, Kuanqi Cai, Zhenshan Bing, Yuan Meng, Fan Wu, Sami Haddadin, Alois Knoll, CIT: Context-Based Biased Batch-Sampling for Almost-Surely Asymptotically Optimal Motion Planning, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025, pp. 4421–4428, 2025. Project Page DOI: 10.1109/IROS60139.2025.11246858
Henning Zwirnmann, Moritz Eckhoff, Dennis Knobbe, Dorian Fülöp, Andrea Gabrielli, Sami Haddadin, The qPCRBot: Combining Automated Data Handling, Standardization, and Robotic Labware Transport for Better qPCR Measurements, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025, pp. 15858–15864, 2025. Project Page DOI: 10.1109/ICRA55743.2025.11128567

2024

Kejia Chen, Zhenshan Bing, Yansong Wu, Fan Wu, Liding Zhang, Sami Haddadin, Alois Knoll, Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 13833–13839, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10611558
Junnan Li, Lingyun Chen, Johannes Ringwald, Edmundo Pozo Fortunic, Amartya Ganguly, Sami Haddadin, Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 8330–8337, 2024. Project Page DOI: 10.1109/IROS58592.2024.10801538
Ali Aminzadeh, Abdalla Swikir, Sami Haddadin, Abolfazl Lavaei, Compositional Safety Verification of Infinite Networks: A Data-Driven Approach, in Proceedings of European Control Conference, ECC 2024, Stockholm, Sweden, June 25-28, 2024, pp. 545–551, 2024. Project Page DOI: 10.23919/ECC64448.2024.10591289
Jon Arrizabalaga, Lukas Pries, Riddhiman Laha, Runkang Li, Sami Haddadin, Markus Ryll, Geometric Slosh-Free Tracking for Robotic Manipulators, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 1226–1232, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610813
Katharina Bieker, Hugo T. M. Kussaba, Philipp Scholl, Jaesug Jung, Abdalla Swikir, Sami Haddadin, Gitta Kutyniok, Compositional Construction of Barrier Functions for Switched Impulsive Systems, in Proceedings of 63rd IEEE Conference on Decision and Control, CDC 2024, Milan, Italy, December 16-19, 2024, pp. 7085–7091, 2024. Project Page DOI: 10.1109/CDC56724.2024.10886587
Seongjin Bien, Abdeldjallil Naceri, Luis F. C. Figueredo, Sami Haddadin, Generating Force Vectors from Projective Truncated Signed Distance Fields for Collision Avoidance and Haptic Feedback, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 5460–5465, 2024. Project Page DOI: 10.1109/IROS58592.2024.10801739
Finn L. Busch, Nathalie Bauschmann, Sami Haddadin, Robert Seifried, Daniel A Duecker, Predicting against the Flow: Boosting Source Localization by Means of Field Belief Modeling using Upstream Source Proximity, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 6254–6259, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610144
Kuanqi Cai, Riddhiman Laha, Yuhe Gong, Lingyun Chen, Liding Zhang, Luis F. C. Figueredo, Sami Haddadin, Demonstration to Adaptation: A User-Guided Framework for Sequential and Real-Time Planning, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 9871–9878, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802661
Xiao Chen, Youssef Michel, Hamid Sadeghian, Sami Haddadin, Network-aware Shared Autonomy in Bilateral Teleoperation, in Proceedings of 23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024, Nancy, France, November 22-24, 2024, pp. 888–894, 2024. Project Page DOI: 10.1109/HUMANOIDS58906.2024.10769942
Xiao Chen, Tianle Ni, Kübra Karacan, Hamid Sadeghian, Sami Haddadin, Online Transfer and Adaptation of Tactile Skill: A Teleoperation Framework, in Proceedings of Conference on Robot Learning, 6-9 November 2024, Munich, Germany, pp. 4981–4995, 2024. Project Page URL: https://proceedings.mlr.press/v270/chen25i.html
Lingyun Chen, Abdeldjallil Naceri, Abdalla Swikir, Sandra Hirche, Sami Haddadin, Autonomous and Teleoperation Control of a Drawing Robot Avatar, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 15714–15720, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610310
Lingyun Chen, Haoyu Yu, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin, Time-Optimized Trajectory Planning for Non-prehensile Object Transportation in 3D, in Proceedings of European Robotics Forum 2024 - 15th ERF, Volume 2, Rimini, Italy, 13-15 March 2024, pp. 70–75, 2024. Project Page DOI: 10.1007/978-3-031-76428-8_14
Lingyun Chen, Haoyu Yu, Liding Zhang, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin, Trajectory Planning for Non-Prehensile Object Transportation, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 9939–9946, 2024. Project Page DOI: 10.1109/IROS58592.2024.10801587
Felix Eberle, Riddhiman Laha, Haowen Yao, Abdeldjallil Naceri, Luis F. C. Figueredo, Sami Haddadin, RETOM: Leveraging Maneuverability for Reactive Tool Manipulation using Wrench-Fields, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 13178–13184, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10611140
Muhammad Hilman Fatoni, Christopher Herneth, Junnan Li, Fajar Budiman, Amartya Ganguly, Sami Haddadin, Optimizing Interaction Space: Enlarging the Capture Volume for Multiple Portable Motion Capture Devices, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 5680–5687, 2024. Project Page DOI: 10.1109/IROS58592.2024.10801852
Moein Forouhar, Hamid Sadeghian, Daniel Pérez-Suay, Abdeldjallil Naceri, Sami Haddadin, A Tactile Lightweight Exoskeleton for Teleoperation: Design and Control Performance, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 178–183, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802732
Sonja Groß, Michael Ratzel, Edgar Welte, Diego Hidalgo-Carvajal, Lingyun Chen, Edmundo Pozo Fortunic, Amartya Ganguly, Abdalla Swikir, Sami Haddadin, OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 5311–5318, 2024. Project Page DOI: 10.1109/IROS58592.2024.10801426
Christopher Herneth, Junnan Li, Muhammad Hilman Fatoni, Amartya Ganguly, Sami Haddadin, Object Augmentation Algorithm: Computing virtual object motion and object induced interaction wrench from optical markers, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 13502–13509, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802350
Christopher Herneth, Amartya Ganguly, Sami Haddadin, Functional kinematic and kinetic requirements of the upper limb during activities of daily living: a recommendation on necessary joint capabilities for prosthetic arms, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 191–198, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802080
Fabian Jakob, Xiao Chen, Hamid Sadeghian, Sami Haddadin, Enhancing the Tracking Performance of Passivity-based High-Frequency Robot Cloud Control, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 12097–12103, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610616
Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin, Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 204–210, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610054
Kübra Karacan, Anran Zhang, Hamid Sadeghian, Fan Wu, Sami Haddadin, Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 2243–2250, 2024. Project Page DOI: 10.1109/IROS58592.2024.10801386
Celal Umut Kenanoglu, Valentin Le Mesle, Gjergji Luarasi, Hamid Sadeghian, Sami Haddadin, Design and Evaluation of a Surgical Tool Drive Unit for Sustainable Training in Robot-Assisted Minimally Invasive Surgery, in Proceedings of 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024, Heidelberg, Germany, September 1-4, 2024, pp. 1555–1560, 2024. Project Page DOI: 10.1109/BIOROB60516.2024.10719745
Robin Jeanne Kirschner, Carina M. Micheler, Yangcan Zhou, Sebastian Siegner, Mazin Hamad, Claudio Glowalla, Jan Neumann, Nader Rajaei, Rainer Burgkart, Sami Haddadin, Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 12680–12687, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610422
Robin Jeanne Kirschner, Jinyu Yang, Edonis Elshani, Carina M. Micheler, Tobias Leibbrand, Dirk Müller, Claudio Glowalla, Nader Rajaei, Rainer Burgkart, Sami Haddadin, Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 14012–14019, 2024. Project Page DOI: 10.1109/IROS58592.2024.10801892
Sebastian Kuhn, Mehmet Can Yildirim, Edmundo Pozo Fortunic, Kübra Karacan, Abdalla Swikir, Sami Haddadin, A Novel Variable Stiffness Suspension System for Improved Stability and Control of Tactile Mobile Manipulators, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 3682–3689, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802223
Srinivasan Lakshminarayanan, Daniel A Duecker, Andriy Sarabakha, Amartya Ganguly, Leila Takayama, Sami Haddadin, Estimation of External Force acting on Underwater Robots, in Proceedings of 20th IEEE International Conference on Automation Science and Engineering, CASE 2024, Bari, Italy, August 28 - Sept. 1, 2024, pp. 3125–3131, 2024. Project Page DOI: 10.1109/CASE59546.2024.10711608
Dasharadhan Mahalingam, Aditya Patankar, Riddhiman Laha, Srinivasan Lakshminarayanan, Sami Haddadin, Nilanjan Chakraborty, A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 9931–9938, 2024. Project Page DOI: 10.1109/IROS58592.2024.10801794
Alexander Moortgat-Pick, Marie Schwahn, Anna Adamczyk, Daniel A Duecker, Sami Haddadin, Autonomous UAV Mission Cycling: A Mobile Hub Approach for Precise Landings and Continuous Operations in Challenging Environments, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 8450–8456, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10611292
Simone Nertinger, Olivia Herzog, Anna Mühlbauer, Abdeldjallil Naceri, Sami Haddadin, Designing Humanoids: How Robot Posture Influences Users’ Perceived Safety in HRI, in Proceedings of 23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024, Nancy, France, November 22-24, 2024, pp. 45–52, 2024. Project Page DOI: 10.1109/HUMANOIDS58906.2024.10769912
Dennis Ossadnik, Vasilije Rakcevic, Mehmet Can Yildirim, Edmundo Pozo Fortunic, Hugo T. M. Kussaba, Abdalla Swikir, Sami Haddadin, Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 11481–11487, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610380
Daniel Pérez-Suay, Yu Li, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin, Torque Transmission in Double-Tendon Sheath Driven Actuators for Application in Exoskeletons, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 4751–4757, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610254
Kangwagye Samuel, Kevin Haninger, Sami Haddadin, Sehoon Oh, Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 746–752, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802440
Samuel Schneider, Yansong Wu, Lars Johannsmeier, Fan Wu, Sami Haddadin, A Scalable Platform for Robot Learning and Physical Skill Data Collection, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 5925–5932, 2024. Project Page DOI: 10.1109/IROS58592.2024.10801516
Martin Schonger, Hugo T. M. Kussaba, Lingyun Chen, Luis F. C. Figueredo, Abdalla Swikir, Aude Billard, Sami Haddadin, Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 17201–17207, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610828
Erfan Shahriari, Kim Kristin Peper, Matej Hoffmann, Sami Haddadin, Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 1329–1336, 2024. Project Page DOI: 10.1109/IROS58592.2024.10801492
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin, Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 13376–13382, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10611325
Jon Skerlj, Mazin Hamad, Jean Elsner, Abdeldjallil Naceri, Sami Haddadin, Safe-By-Design Digital Twins for Human-Robot Interaction: A Use Case for Humanoid Service Robots, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 13369–13375, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10611178
Peter So, Ahmed Abdelrahman, Hoan Quang Le, Abdalla Swikir, Sami Haddadin, Towards Mastering Real-World Robot Benchmarking: Lessons Learned from the Robothon Grand Challenge, in Proceedings of European Robotics Forum 2024 - 15th ERF, Volume 2, Rimini, Italy, 13-15 March 2024, pp. 87–91, 2024. Project Page DOI: 10.1007/978-3-031-76428-8_17
Peter So, Rafael I. Cabral Muchacho, Robin Jeanne Kirschner, Abdalla Swikir, Luis F. C. Figueredo, Fares J. Abu-Dakka, Sami Haddadin, CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 17501–17507, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10611312
Nikolas J. Wilhelm, Claudio Glowalla, Sami Haddadin, Julian Schote, Hannes Höppner, Patrick van der Smagt, Maximilian Karl, Rainer Burgkart, Design and Implementation of a Robotic Testbench for Analyzing Pincer Grip Execution in Human Specimen Hands, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 18465–18471, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610715
Nikolas J. Wilhelm, Sami Haddadin, Rainer Burgkart, Patrick van der Smagt, Maximilian Karl, Accurate Kinematic Modeling using Autoencoders on Differentiable Joints, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 7122–7128, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10611062
Nikolas J. Wilhelm, Victor Schaack, Annick Leisching, Carina Micheler, Sami Haddadin, Rainer Burgkart, An Adaptive Robotic Exoskeleton for Comprehensive Force-Controlled Hand Rehabilitation, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 170–177, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802093
Yansong Wu, Fan Wu, Lingyun Chen, Kejia Chen, Samuel Schneider, Lars Johannsmeier, Zhenshan Bing, Fares J. Abu-Dakka, Alois Knoll, Sami Haddadin, 1 kHz Behavior Tree for Self-adaptable Tactile Insertion, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024, pp. 16002–16008, 2024. Project Page DOI: 10.1109/ICRA57147.2024.10610835
Ioannis Xygonakis, Riccardo Seganfreddo, Mazin Hamad, Samuel Schneider, Axel Schröder, Sandro M. Krieg, Bernhard Meyer, Lorenzo Chiari, Melissa Zavaglia, Sami Haddadin, Transcranial Magnetic Stimulation Robotic Assistant: towards a fully automated stimulation session, in Proceedings of 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024, Heidelberg, Germany, September 1-4, 2024, pp. 1401–1408, 2024. Project Page DOI: 10.1109/BIOROB60516.2024.10719901
Zhelin Yang, Seongjin Bien, Simone Nertinger, Abdeldjallil Naceri, Sami Haddadin, An Optimization-based Scheme for Real-time Transfer of Human Arm Motion to Robot Arm, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 12220–12225, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802348
Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Kuanqi Cai, Yu Zhang, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll, Flexible Informed Trees (FIT): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning*, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 3146–3152, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802466
Liding Zhang, Zhenshan Bing, Yu Zhang, Kuanqi Cai, Lingyun Chen, Fan Wu, Sami Haddadin, Alois Knoll, Elliptical K-Nearest Neighbors - Path Optimization via Coulomb’s Law and Invalid Vertices in C-space Obstacles, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 12032–12039, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802280
Jingyun Zhao, Birgit Vogel-Heuser, Jicong Ao, Yansong Wu, Liding Zhang, Fandi Hartl, Dominik Hujo, Zhenshan Bing, Fan Wu, Alois Knoll, Sami Haddadin, Bernd Vojanec, Timo Markert, André Kraft, Ontology Based AI Planning and Scheduling for Robotic Assembly, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, pp. 9855–9862, 2024. Project Page DOI: 10.1109/IROS58592.2024.10802295

2023

Kejia Chen, Zhenshan Bing, Fan Wu, Yuan Meng, André Kraft, Sami Haddadin, Alois Knoll, Contact-Aware Shaping and Maintenance of Deformable Linear Objects With Fixtures, in Proceedings of IROS, pp. 1–8, 2023. Project Page DOI: 10.1109/IROS55552.2023.10341726
Junnan Li, Amartya Ganguly, Luis F. C. Figueredo, Sami Haddadin, Tendon to Object Space: Evaluation of Anthropomorphic Finger for Human-Like Performance, in Proceedings of Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics, Munich, Germany, 20-21 September 2023, pp. 196–212, 2023. Project Page DOI: 10.1007/978-3-031-55000-3_14
Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjin Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard, Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments, in Proceedings of IEEE International Symposium on Multimedia, ISM 2023, Laguna Hills, CA, USA, December 11-13, 2023, pp. 260–261, 2023. Project Page DOI: 10.1109/ISM59092.2023.00050
Seongjin Bien, Jon Skerlj, Paul Thiel, Felix Eberle, Mario Tröbinger, Christian Stolle, Luis F. C. Figueredo, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin, Human-Inspired Audiovisual Inducement of Whole-Body Responses, in Proceedings of 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023, Austin, TX, USA, December 12-14, 2023, pp. 1–8, 2023. Project Page DOI: 10.1109/HUMANOIDS57100.2023.10375229
Seyed Ali Baradaran Birjandi, Harshit Khurana, Aude Billard, Sami Haddadin, A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration, in Proceedings of IROS, pp. 346–353, 2023. Project Page DOI: 10.1109/IROS55552.2023.10342476
Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Sai Vemprala, Rogerio Bonatti, LATTE: LAnguage Trajectory TransformEr, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2023, London, UK, May 29 - June 2, 2023, pp. 7287–7294, 2023. Project Page DOI: 10.1109/ICRA48891.2023.10161068
Xiao Chen, Hamid Sadeghian, Lingyun Chen, Mario Tröbinger, Abadalla Swirkir, Abdeldjallil Naceri, Sami Haddadin, A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2023, London, UK, May 29 - June 2, 2023, pp. 5242–5248, 2023. Project Page DOI: 10.1109/ICRA48891.2023.10160366
Viktorija Dimova-Edeleva, Oscar Soto Rivera, Riddhiman Laha, Luis F. C. Figueredo, Melissa Zavaglia, Sami Haddadin, Error-related Potentials in a Virtual Pick-and-Place Experiment: Toward Real-world Shared-control, in Proceedings of 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society, EMBC 2023, Sydney, Australia, July 24-27, 2023, pp. 1–7, 2023. Project Page DOI: 10.1109/EMBC40787.2023.10340244
Moritz Eckhoff, Dennis Knobbe, Henning Zwirnmann, Abdalla Swikir, Sami Haddadin, Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles, in Proceedings of IROS, pp. 2354–2361, 2023. Project Page DOI: 10.1109/IROS55552.2023.10342515
Andreas Frotzscher, Xiao Chen, Duy Lam Tran, Thore Goll, Hamid Sadeghian, Fan Wu, Martin Dehmel, Tommy Wohlfahrt, Matthias Riedl, Sami Haddadin, Self-Organization and Collaboration in Robotic Manufacturing Systems, in Proceedings of 19th IEEE International Conference on Automation Science and Engineering, CASE 2023, Auckland, New Zealand, August 26-30, 2023, pp. 1–6, 2023. Project Page DOI: 10.1109/CASE56687.2023.10260499
Sonja Groß, Diego Hidalgo-Carvajal, Silija Breimann, Nicolai Stein, Amartya Ganguly, Abdeldjallil Naceri, Sami Haddadin, Soft Sensing Skins for Arbitrary Objects: An Automatic Framework, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2023, London, UK, May 29 - June 2, 2023, pp. 12507–12513, 2023. Project Page DOI: 10.1109/ICRA48891.2023.10161344
Mazin Hamad, Simone Nertinger, Robin Jeanne Kirschner, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin, A Concise Overview of Safety Aspects in Human-Robot Interaction, in Proceedings of Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics, Munich, Germany, 20-21 September 2023, pp. 1–18, 2023. Project Page DOI: 10.1007/978-3-031-55000-3_1
Juan Heredia, Robin Jeanne Kirschner, Christian Schlette, Saeed Abdolshah, Sami Haddadin, Mikkel Baun Kjærgaard, Labelling Lightweight Robot Energy Consumption: A Mechatronics-Based Benchmarking Metric Set, in Proceedings of IROS, pp. 1789–1796, 2023. Project Page DOI: 10.1109/IROS55552.2023.10341484
Olivia Herzog, Simone Nertinger, Katharina Wenzel, Abdeldjallil Naceri, Sami Haddadin, Klaus Bengler, Assessing Perceived Discomfort and Proxemic Behavior towards Robots: A Comparative Study between Real and Augmented Reality Presentations, in Proceedings of 32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023, Busan, Republic of Korea, August 28-31, 2023, pp. 959–965, 2023. Project Page DOI: 10.1109/RO-MAN57019.2023.10309413
Diego Hidalgo-Carvajal, Abdeldjallil Naceri, Sami Haddadin, From Human Hand to Grasp Surface Detection, Tracking & Analysis, in Proceedings of 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society, EMBC 2023, Sydney, Australia, July 24-27, 2023, pp. 1–6, 2023. Project Page DOI: 10.1109/EMBC40787.2023.10341066
Elisabeth Rose Jensen, Reihaneh Mirjalili, Kim K. Peper, Dennis Ossadnik, Fan Wu, Jan Josef Lang, Matthias Martin, Florian Hetfleisch, Rainer Burgkart, Sami Haddadin, Individualized Training of Back Muscles Using Iterative Learning Control of a Compliant Balance Board, in Proceedings of International Conference on Rehabilitation Robotics, ICORR 2023, Singapore, September 24-28, 2023, pp. 1–6, 2023. Project Page DOI: 10.1109/ICORR58425.2023.10304810
Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin, The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control, in Proceedings of 62nd IEEE Conference on Decision and Control, CDC 2023, Singapore, December 13-15, 2023, pp. 4745–4752, 2023. Project Page DOI: 10.1109/CDC49753.2023.10383326
Hossein Kavianirad, Moein Forouhar, Hamid Sadeghian, Satoshi Endo, Sami Haddadin, Sandra Hirche, Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation, in Proceedings of International Conference on Rehabilitation Robotics, ICORR 2023, Singapore, September 24-28, 2023, pp. 1–6, 2023. Project Page DOI: 10.1109/ICORR58425.2023.10304764
Riddhiman Laha, Wenxi Wu, Ruiai Sun, Nico Mansfeld, Luis F. C. Figueredo, Sami Haddadin, S: On Safe and Time Efficient Robot Motion Planning*, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2023, London, UK, May 29 - June 2, 2023, pp. 12758–12764, 2023. Project Page DOI: 10.1109/ICRA48891.2023.10161248
Rafael I. Cabral Muchacho, Seongjin Bien, Riddhiman Laha, Abdeldjallil Naceri, Luis F. C. Figueredo, Sami Haddadin, Shared Autonomy Control for Slosh-Free Teleoperation, in Proceedings of IROS, pp. 10676–10683, 2023. Project Page DOI: 10.1109/IROS55552.2023.10342234
Simone Nertinger, Neha Das, Satoshi Endo, Abdeldjallil Naceri, Sandra Hirche, Sami Haddadin, Assessing Human-Human Kinematics for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A Pilot Study, in Proceedings of International Conference on Rehabilitation Robotics, ICORR 2023, Singapore, September 24-28, 2023, pp. 1–6, 2023. Project Page DOI: 10.1109/ICORR58425.2023.10304778
Simone Nertinger, Robin Jeanne Kirschner, Saeed Abdolshah, Abdeldjallil Naceri, Sami Haddadin, Influence of robot motion and human factors on users’ perceived safety in HRI, in Proceedings of IEEE International Conference on Advanced Robotics and Its Social Impacts, ARSO 2023, Berlin, Germany, June 5-7, 2023, pp. 46–52, 2023. Project Page DOI: 10.1109/ARSO56563.2023.10187525
Simone Nertinger, Abdeldjallil Naceri, Sami Haddadin, Identifying Requirements for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A user-centered design approach, in Proceedings of 32nd IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2023, Busan, Republic of Korea, August 28-31, 2023, pp. 2316–2321, 2023. Project Page DOI: 10.1109/RO-MAN57019.2023.10309570
Kim K. Peper, Alexander Aasmann, Elisabeth Rose Jensen, Sami Haddadin, Real-Time-Capable Muscle Force Estimation for Monitoring Robotic Rehabilitation Therapy in the Intensive Care Unit, in Proceedings of 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society, EMBC 2023, Sydney, Australia, July 24-27, 2023, pp. 1–6, 2023. Project Page DOI: 10.1109/EMBC40787.2023.10340308
Kim K. Peper, Elisabeth Rose Jensen, Sami Haddadin, Estimating Joint Kinematics and Muscles Forces During Robotic Rehabilitation to Detect and Counteract Reduced Ankle Mobility, in Proceedings of International Conference on Rehabilitation Robotics, ICORR 2023, Singapore, September 24-28, 2023, pp. 1–6, 2023. Project Page DOI: 10.1109/ICORR58425.2023.10304782
Jon Skerlj, Maximilian Braun, Sophia Witz, Svenja Breuer, Marieke Bak, Sebastian Scholz, Abdeldjallil Naceri, Ruth Müller, Sami Haddadin, Iris Eisenberger, Data Recording for Responsible Robotics, in Proceedings of IEEE International Conference on Advanced Robotics and Its Social Impacts, ARSO 2023, Berlin, Germany, June 5-7, 2023, pp. 103–109, 2023. Project Page DOI: 10.1109/ARSO56563.2023.10187414
Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo, Sami Haddadin, Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC, in Proceedings of Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics, Munich, Germany, 20-21 September 2023, pp. 164–180, 2023. Project Page DOI: 10.1007/978-3-031-55000-3_12
Alexander Toedtheide, Xiao Chen, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin, A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2023, London, UK, May 29 - June 2, 2023, pp. 12624–12630, 2023. Project Page DOI: 10.1109/ICRA48891.2023.10161175
Mario Tröbinger, Abdeldjallil Naceri, Xiao Chen, Hamid Sadeghian, Sami Haddadin, Identification of a Generalized Base Inertial Parameter Set of Robotic Manipulators Considering Mounting Configurations, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2023, London, UK, May 29 - June 2, 2023, pp. 11502–11508, 2023. Project Page DOI: 10.1109/ICRA48891.2023.10160248
Florian Voigt, Abdeldjallil Naceri, Sami Haddadin, I^mpedance - A Passivity Based Integrative Impedance Controller for Precise and Compliant Manipulation and Interaction, in Proceedings of IROS, pp. 4472–4479, 2023. Project Page DOI: 10.1109/IROS55552.2023.10342370
Ioannis Xygonakis, Melissa Zavaglia, Sami Haddadin, Robust Independent Component Analysis based EMG decomposition - a comparison study, in Proceedings of 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society, EMBC 2023, Sydney, Australia, July 24-27, 2023, pp. 1–5, 2023. Project Page DOI: 10.1109/EMBC40787.2023.10341096
Mehmet Can Yildirim, Edgar Alejandro Pisano, Mazin Hamad, Valentin Le Mesle, Abdalla Swikir, Sami Haddadin, A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading, in Proceedings of 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023, Austin, TX, USA, December 12-14, 2023, pp. 1–8, 2023. Project Page DOI: 10.1109/HUMANOIDS57100.2023.10375205
Henning Zwirnmann, Dennis Knobbe, Utku Culha, Sami Haddadin, Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers^, in Proceedings of IROS, pp. 6823–6830, 2023. Project Page DOI: 10.1109/IROS55552.2023.10342218

2022

Seyed Ali Baradaran Birjandi, Niels Dehio, Abderrahmane Kheddar, Sami Haddadin, Robust Cartesian Kinematics Estimation for Task-Space Control Systems, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 3512–3519, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981233
Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Rogerio Bonatti, Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 978–984, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981810
Xiao Chen, Lars Johannsmeier, Hamid Sadeghian, Erfan Shahriari, Martin Danneberg, Anselm Nicklas, Fan Wu, Gerhard P. Fettweis, Sami Haddadin, On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 7712–7719, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981833
Rachele Nebbia Colomba, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin, Adaptive Admittance Control for Cooperative Manipulation using Dual Quaternion Representation and Logarithmic Mapping, in Proceedings of 61st IEEE Conference on Decision and Control, CDC 2022, Cancun, Mexico, December 6-9, 2022, pp. 107–144, 2022. Project Page DOI: 10.1109/CDC51059.2022.9992402
Moritz Eckhoff, Robin Jeanne Kirschner, Elena Kern, Saeed Abdolshah, Sami Haddadin, An MPC Framework For Planning Safe & Trustworthy Robot Motions, in Proceedings of 2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 4737–4742, 2022. Project Page DOI: 10.1109/ICRA46639.2022.9812160
Edmundo Pozo Fortunic, Abdalla Swikir, Saeed Abdolsah, Sami Haddadin, Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-Emf, in Proceedings of American Control Conference, ACC 2022, Atlanta, GA, USA, June 8-10, 2022, pp. 2546–2552, 2022. Project Page DOI: 10.23919/ACC53348.2022.9867705
Diego Hidalgo-Carvajal, Carlos Magno C. O. Valle, Abdeldjallil Naceri, Sami Haddadin, Object-Centric Grasping Transferability: Linking Meshes to Postures, in Proceedings of 21st IEEE-RAS International Conference on Humanoid Robots, Humanoids 2022, Ginowan, Japan, November 28-30, 2022, pp. 659–666, 2022. Project Page DOI: 10.1109/HUMANOIDS53995.2022.10000192
Lars Johannsmeier, Sami Haddadin, Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 12081–12088, 2022. Project Page DOI: 10.1109/IROS47612.2022.9982025
Kübra Karacan, Hamid Sadeghian, Robin Jeanne Kirschner, Sami Haddadin, Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 9604–9611, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981728
Robin Jeanne Kirschner, Florian Martineau, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 13414–13421, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981864
Dennis Knobbe, Henning Zwirnmann, Moritz Eckhoff, Sami Haddadin, Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 2335–2342, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981636
Alexander Kurdas, Mazin Hamad, Jonathan Vorndamme, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, Online Payload Identification for Tactile Robots Using the Momentum Observer, in Proceedings of 2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 5953–5959, 2022. Project Page DOI: 10.1109/ICRA46639.2022.9811691
Riddhiman Laha, Ruiai Sun, Wenxi Wu, Dasharadhan Mahalingam, Nilanjan Chakraborty, Luis F. C. Figueredo, Sami Haddadin, Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees, in Proceedings of 2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 977–984, 2022. Project Page DOI: 10.1109/ICRA46639.2022.9812014
Nico Mansfeld, Guillermo Gómez Peña, Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin, Global Safety Characteristics of Wheeled Mobile Manipulators, in Proceedings of 18th IEEE International Conference on Automation Science and Engineering, CASE 2022, Mexico City, Mexico, August 20-24, 2022, pp. 2245–2252, 2022. Project Page DOI: 10.1109/CASE49997.2022.9926607
Alexander Moortgat-Pick, Peter So, Michael J. Sack, Emma G. Cunningham, Benjamin Paul Hughes, Anna Adamczyk, Andriy Sarabakha, Leila Takayama, Sami Haddadin, A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 3926–3933, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981365
Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin, A Solution to Slosh-free Robot Trajectory Optimization, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 223–230, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981173
Dennis Ossadnik, Mehmet Can Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah, Sami Haddadin, BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 3536–3543, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981928
Kim K. Peper, Dinmukhamed Zardykhan, Marion Egger, Martina Steinböck, Friedemann Müller, Xavier Hildenbrand, Alexander Koenig, Elisabeth Rose Jensen, Sami Haddadin, Testing robot-based assist-as-needed therapy for improving active participation of a patient during early neurorehabilitation: a case study, in Proceedings of International Conference on Rehabilitation Robotics, ICORR 2022, Rotterdam, Netherlands, July 25-29, 2022, pp. 1–6, 2022. Project Page DOI: 10.1109/ICORR55369.2022.9896495
Anna Reithmeir, Luis F. C. Figueredo, Sami Haddadin, Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 5218–5225, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981796
Thomas Steinecker, Alexander Kurdas, Nico Mansfeld, Mazin Hamad, Robin Jeanne Kirschner, Saeed Abdolshah, Sami Haddadin, Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction, in Proceedings of 2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 11209–11215, 2022. Project Page DOI: 10.1109/ICRA46639.2022.9811582
Petr Svarný, Mazin Hamad, Alexander Kurdas, Matej Hoffmann, Saeed Abdolshah, Sami Haddadin, Functional Mode Switching for Safe and Efficient Human-Robot Interaction, in Proceedings of 21st IEEE-RAS International Conference on Humanoid Robots, Humanoids 2022, Ginowan, Japan, November 28-30, 2022, pp. 888–894, 2022. Project Page DOI: 10.1109/HUMANOIDS53995.2022.10000070
Carlos Magno C. O. Valle, Alexander Kurdas, Edmundo Pozo Fortunic, Saeed Abdolshah, Sami Haddadin, Real-time IMU-Based Learning: a Classification of Contact Materials, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 1965–1971, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981139
Jonathan Vorndamme, João Carvalho, Riddhiman Laha, Dorothea Koert, Luis F. C. Figueredo, Jan Peters, Sami Haddadin, Integrated Bi-Manual Motion Generation and Control shaped for Probabilistic Movement Primitives, in Proceedings of 21st IEEE-RAS International Conference on Humanoid Robots, Humanoids 2022, Ginowan, Japan, November 28-30, 2022, pp. 202–209, 2022. Project Page DOI: 10.1109/HUMANOIDS53995.2022.10000149
Jonathan Vorndamme, Luis F. C. Figueredo, Sami Haddadin, Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, October 23-27, 2022, pp. 6687–6694, 2022. Project Page DOI: 10.1109/IROS47612.2022.9981904
Mehmet Can Yildirim, Mohamadreza Sabaghian, Thore Goll, Clemens Kössler, Christoph Jähne, Abdalla Swikir, Andriy Sarabakha, Sami Haddadin, Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result, in Proceedings of 2022 International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 5769–5775, 2022. Project Page DOI: 10.1109/ICRA46639.2022.9812006

2021

Lingyun Chen, Abdalla Swikir, Sami Haddadin, Drawing Elon Musk: A Robot Avatar for Remote Manipulation, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021, pp. 4244–4251, 2021. Project Page DOI: 10.1109/IROS51168.2021.9635879
Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin, Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups, in Proceedings of IEEE International Conference on Intelligence and Safety for Robotics, ISR 2021, Tokoname, Japan, March 4-6, 2021, pp. 310–315, 2021. Project Page DOI: 10.1109/ISR50024.2021.9419569
Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin, A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities, in Proceedings of IEEE International Conference on Intelligence and Safety for Robotics, ISR 2021, Tokoname, Japan, March 4-6, 2021, pp. 316–320, 2021. Project Page DOI: 10.1109/ISR50024.2021.9419570
Robin Jeanne Kirschner, Lisa Burr, Melanie Porzenheim, Henning Mayer, Saeed Abdolshah, Sami Haddadin, Involuntary Motion in Human-Robot Interaction: Effect of Interactive User Training on the Occurrence of Human Startle-Surprise Motion, in Proceedings of IEEE International Conference on Intelligence and Safety for Robotics, ISR 2021, Tokoname, Japan, March 4-6, 2021, pp. 28–32, 2021. Project Page DOI: 10.1109/ISR50024.2021.9419526
Robin Jeanne Kirschner, João Jantalia, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2021, Xi’an, China, May 30 - June 5, 2021, pp. 3590–3596, 2021. Project Page DOI: 10.1109/ICRA48506.2021.9561528
Robin Jeanne Kirschner, Alexander Kurdas, Kübra Karacan, Philipp Junge, Seyed Ali Baradaran Birjandi, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021, pp. 4290–4297, 2021. Project Page DOI: 10.1109/IROS51168.2021.9636329
Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066, in Proceedings of IEEE International Conference on Intelligence and Safety for Robotics, ISR 2021, Tokoname, Japan, March 4-6, 2021, pp. 1–5, 2021. Project Page DOI: 10.1109/ISR50024.2021.9419494
Robin Jeanne Kirschner, Nico Mansfeld, Guillermo Gómez Peña, Saeed Abdolshah, Sami Haddadin, Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066, in Proceedings of IEEE International Conference on Intelligence and Safety for Robotics, ISR 2021, Tokoname, Japan, March 4-6, 2021, pp. 6–9, 2021. Project Page DOI: 10.1109/ISR50024.2021.9419495
Riddhiman Laha, Luis F. C. Figueredo, Juraj Vrabel, Abdalla Swikir, Sami Haddadin, Reactive Cooperative Manipulation based on Set Primitives and Circular Fields, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2021, Xi’an, China, May 30 - June 5, 2021, pp. 6577–6584, 2021. Project Page DOI: 10.1109/ICRA48506.2021.9561985
Riddhiman Laha, Jonathan Vorndamme, Luis F. C. Figueredo, Zheng Qu, Abdalla Swikir, Christoph Jähne, Sami Haddadin, Coordinated Motion Generation and Object Placement: A Reactive Planning and Landing Approach, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021, pp. 9401–9407, 2021. Project Page DOI: 10.1109/IROS51168.2021.9636652
Fernando Diaz Ledezma, Sami Haddadin, RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2021, Xi’an, China, May 30 - June 5, 2021, pp. 9354–9360, 2021. Project Page DOI: 10.1109/ICRA48506.2021.9561425
Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin, ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2021, Xi’an, China, May 30 - June 5, 2021, pp. 3040–3046, 2021. Project Page DOI: 10.1109/ICRA48506.2021.9560780
Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin, Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2021, Xi’an, China, May 30 - June 5, 2021, pp. 3047–3053, 2021. Project Page DOI: 10.1109/ICRA48506.2021.9561568
Huy Xuan Pham, Ilker Bozcan, Andriy Sarabakha, Sami Haddadin, Erdal Kayacan, GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021, pp. 4176–4183, 2021. Project Page DOI: 10.1109/IROS51168.2021.9636207
Anton Reindl, Nina Rudigkeit, Martin Ebers, Mario Tröbinger, Jean Elsner, Sami Haddadin, Legal and Technical Considerations on Unified, Safe and Data-Protected Haptic Telepresence in Healthcare, in Proceedings of IEEE International Conference on Intelligence and Safety for Robotics, ISR 2021, Tokoname, Japan, March 4-6, 2021, pp. 239–243, 2021. Project Page DOI: 10.1109/ISR50024.2021.9419559
Mihael Simonic, Rok Pahic, Timotej Gaspar, Saeed Abdolshah, Sami Haddadin, Manuel G. Catalano, Florentin Wörgötter, Ales Ude, Modular ROS-based software architecture for reconfigurable, Industry 4.0 compatible robotic workcells, in Proceedings of 20th International Conference on Advanced Robotics, ICAR 2021, Ljubljana, Slovenia, December 6-10, 2021, pp. 44–51, 2021. Project Page DOI: 10.1109/ICAR53236.2021.9659378
Alexander Toedtheide, Johannes Kühn, Edmundo Pozo Fortunic, Sami Haddadin, An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control, in Proceedings of 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2021, Munich, Germany, July 19-21, 2021, pp. 25–32, 2021. Project Page DOI: 10.1109/HUMANOIDS47582.2021.9555777
Mario Tröbinger, Andrei Costinescu, Hao Xing, Jean Elsner, Tingli Hu, Abdeldjallil Naceri, Luis F. C. Figueredo, Elisabeth Rose Jensen, Darius Burschka, Sami Haddadin, A Dual Doctor-Patient Twin Paradigm for Transparent Remote Examination, Diagnosis, and Rehabilitation, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021, pp. 2933–2940, 2021. Project Page DOI: 10.1109/IROS51168.2021.9636626
Jonathan Vorndamme, Sami Haddadin, Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021, pp. 6307–6314, 2021. Project Page DOI: 10.1109/IROS51168.2021.9636091

2020

Elie Aljalbout, Ji Chen, Konstantin Ritt, Maximilian Ulmer, Sami Haddadin, Learning Vision-based Reactive Policies for Obstacle Avoidance, in Proceedings of 4th Conference on Robot Learning, CoRL 2020, 16-18 November 2020, Virtual Event / Cambridge, MA, USA, pp. 2040–2054, 2020. Project Page URL: https://proceedings.mlr.press/v155/aljalbout21a.html
Alexander Moortgat-Pick, Anna Adamczyk, Teodor Tomic, Sami Haddadin, Feeling the True Force in Haptic Telepresence for Flying Robots, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, NV, USA, October 24, 2020 - January 24, 2021, pp. 9789–9796, 2020. Project Page DOI: 10.1109/IROS45743.2020.9341778
Florian Voigt, Lars Johannsmeier, Sami Haddadin, Multi-Level Structure vs. End-to-End-Learning in High-Performance Tactile Robotic Manipulation, in Proceedings of 4th Conference on Robot Learning, CoRL 2020, 16-18 November 2020, Virtual Event / Cambridge, MA, USA, pp. 2306–2316, 2020. Project Page URL: https://proceedings.mlr.press/v155/voigt21a.html

2019

Seyed Ali Baradaran Birjandi, Johannes Kühn, Sami Haddadin, Joint Velocity and Acceleration Estimation in Serial Chain Rigid Body and Flexible Joint Manipulators, in Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019, pp. 7503–7509, 2019. Project Page DOI: 10.1109/IROS40897.2019.8968475
Jasmin Grischke, Lars Johannsmeier, Lukas Eich, Sami Haddadin, Dentronics: Review, First Concepts and Pilot Study of a New Application Domain for Collaborative Robots in Dental Assistance, in Proceedings of International Conference on Robotics and Automation, ICRA 2019, Montreal, QC, Canada, May 20-24, 2019, pp. 6525–6532, 2019. Project Page DOI: 10.1109/ICRA.2019.8794139
Mazin Hamad, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, The Role of Robot Payload in the Safety Map Framework, in Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019, pp. 195–200, 2019. Project Page DOI: 10.1109/IROS40897.2019.8968022
Lars Johannsmeier, Malkin Gerchow, Sami Haddadin, A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control, in Proceedings of International Conference on Robotics and Automation, ICRA 2019, Montreal, QC, Canada, May 20-24, 2019, pp. 5844–5850, 2019. Project Page DOI: 10.1109/ICRA.2019.8793542
Johannes Kuehn, Johannes Ringwald, Moritz Schappler, Lars Johannsmeier, Sami Haddadin, Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype, in Proceedings of International Conference on Robotics and Automation, ICRA 2019, Montreal, QC, Canada, May 20-24, 2019, pp. 9180–9186, 2019. Project Page DOI: 10.1109/ICRA.2019.8794332
Nico Mansfeld, Youssef Michel, Tobias Bruckmann, Sami Haddadin, Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task, in Proceedings of International Conference on Robotics and Automation, ICRA 2019, Montreal, QC, Canada, May 20-24, 2019, pp. 9342–9348, 2019. Project Page DOI: 10.1109/ICRA.2019.8794225
Axel Sauer, Elie Aljalbout, Sami Haddadin, Tracking Holistic Object Representations, in Proceedings of 30th British Machine Vision Conference 2019, BMVC 2019, Cardiff, UK, September 9-12, 2019, pp. 293, 2019. Project Page URL: https://bmvc2019.org/wp-content/uploads/papers/1065-paper.pdf
Erfan Shahriari, Dinmukhamed Zardykhan, Alexander Koenig, Elisabeth Rose Jensen, Sami Haddadin, Energy-based Adaptive Control and Learning for Patient-Aware Rehabilitation, in Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, SAR, China, November 3-8, 2019, pp. 5671–5678, 2019. Project Page DOI: 10.1109/IROS40897.2019.8968249
Dinmukhamed Zardykhan, Petr Svarný, Matej Hoffmann, Erfan Shahriari, Sami Haddadin, Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-Robot Collaboration, in Proceedings of 19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019, Toronto, ON, Canada, October 15-17, 2019, pp. 266–273, 2019. Project Page DOI: 10.1109/HUMANOIDS43949.2019.9035065

2018

Reinhard Grassmann, Lars Johannsmeier, Sami Haddadin, Smooth Point-to-Point Trajectory Planning in $SE$ (3)with Self-Collision and Joint Constraints Avoidance, in Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, October 1-5, 2018, pp. 1–9, 2018. Project Page DOI: 10.1109/IROS.2018.8594339
Sami Haddadin, Lars Johannsmeier, The Art of Manipulation: Learning to Manipulate Blindly, in Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, October 1-5, 2018, pp. 1–9, 2018. Project Page DOI: 10.1109/IROS.2018.8593923
Sami Haddadin, Lars Johannsmeier, Marvin Becker, Moritz Schappler, Torsten Lilge, Simon Haddadin, Johannes Schmid, Tobias Ende, Sven Parusel, Roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands, in Proceedings of Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2018, Chicago, IL, USA, March 05-08, 2018, pp. 375, 2018. Project Page DOI: 10.1145/3173386.3177534
Sami Haddadin, Lars Johannsmeier, Johannes Schmid, Tobias Ende, Sven Parusel, Simon Haddadin, Moritz Schappler, Torsten Lilge, Marvin Becker, roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands, in Proceedings of Robotics in Education - Methods and Applications for Teaching and Learning, Proceedings of the 9th RiE 2018, Qawra, St. Paul’s Bay, Malta, April 18-20, 2018, pp. 3–17, 2018. Project Page DOI: 10.1007/978-3-319-97085-1_1
Tingli Hu, Johannes Kuehn, Sami Haddadin, Identification of Human Shoulder-Arm Kinematic and Muscular Synergies During Daily-Life Manipulation Tasks, in Proceedings of 7th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018, Enschede, The Netherlands, August 26-29, 2018, pp. 1011–1018, 2018. Project Page DOI: 10.1109/BIOROB.2018.8487190
Aljaz Kramberger, Erfan Shahriari, Andrej Gams, Bojan Nemec, Ales Ude, Sami Haddadin, Passivity Based Iterative Learning of Admittance-Coupled Dynamic Movement Primitives for Interaction with Changing Environments, in Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, October 1-5, 2018, pp. 6023–6028, 2018. Project Page DOI: 10.1109/IROS.2018.8593647
Johannes Kuehn, Tingli Hu, Moritz Schappler, Sami Haddadin, Dynamics simulation for an upper-limb human-exoskeleton assistance system in a latent-space controlled tool manipulation task, in Proceedings of 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2018, Brisbane, Australia, May 16-19, 2018, pp. 158–165, 2018. Project Page DOI: 10.1109/SIMPAR.2018.8376286
Fernando Diaz Ledezma, Sami Haddadin, FOP Networks for Learning Humanoid Body Schema and Dynamics, in Proceedings of 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018, Beijing, China, November 6-9, 2018, pp. 1–9, 2018. Project Page DOI: 10.1109/HUMANOIDS.2018.8625033
Erfan Shahriari, Lars Johannsmeier, Sami Haddadin, Valve-based Virtual Energy Tanks: A Framework to Simultaneously Passify Controls and Embed Control Objectives, in Proceedings of 2018 Annual American Control Conference, ACC 2018, Milwaukee, WI, USA, June 27-29, 2018, pp. 3634–3641, 2018. Project Page DOI: 10.23919/ACC.2018.8431718

2017

Sami Haddadin, Wie programmiert man die neue Robotergeneration - und wie lernt man das im Studium?, in Proceedings of Software Engineering 2017, Fachtagung des GI-Fachbereichs Softwaretechnik, 21.-24. Februar 2017, Hannover, Deutschland, pp. 19, 2017. Project Page URL: https://dl.gi.de/handle/20.500.12116/1260
Fernando Diaz Ledezma, Sami Haddadin, First-order-principles-based constructive network topologies: An application to robot inverse dynamics, in Proceedings of 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017, Birmingham, United Kingdom, November 15-17, 2017, pp. 438–445, 2017. Project Page DOI: 10.1109/HUMANOIDS.2017.8246910
Nico Mansfeld, Fabian Beck, Alexander Dietrich, Sami Haddadin, Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators, in Proceedings of 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017, pp. 5368–5375, 2017. Project Page DOI: 10.1109/IROS.2017.8206432
Nico Mansfeld, Badis Djellab, Jaime Raldua Veuthey, Fabian Beck, Christian Ott, Sami Haddadin, Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization, in Proceedings of 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017, pp. 5390–5397, 2017. Project Page DOI: 10.1109/IROS.2017.8206435
Erfan Shahriari, Aljaz Kramberger, Andrej Gams, Ales Ude, Sami Haddadin, Adapting to contacts: Energy tanks and task energy for passivity-based dynamic movement primitives, in Proceedings of 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017, Birmingham, United Kingdom, November 15-17, 2017, pp. 136–142, 2017. Project Page DOI: 10.1109/HUMANOIDS.2017.8239548
Alexander Toedtheide, Erfan Shahriari, Sami Haddadin, Tank based unified torque/impedance control for a pneumatically actuated antagonistic robot joint, in Proceedings of 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, May 29 - June 3, 2017, pp. 1255–1262, 2017. Project Page DOI: 10.1109/ICRA.2017.7989149
Teodor Tomic, Sami Haddadin, Towards Interaction, Disturbance and Fault Aware Flying Robot Swarms, in Proceedings of Robotics Research, The 18th International Symposium, ISRR 2017, Puerto Varas, Chile, December 11-14, 2017, pp. 183–198, 2017. Project Page DOI: 10.1007/978-3-030-28619-4_19
Jonathan Vorndamme, Moritz Schappler, Sami Haddadin, Collision detection, isolation and identification for humanoids, in Proceedings of 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, May 29 - June 3, 2017, pp. 4754–4761, 2017. Project Page DOI: 10.1109/ICRA.2017.7989552

2016

Nico Mansfeld, Christian Ott, Sami Haddadin, Maximal input limits for independent SISO control in modal space under consideration of actuator constraints, in Proceedings of 2016 American Control Conference, ACC 2016, Boston, MA, USA, July 6-8, 2016, pp. 6721–6728, 2016. Project Page DOI: 10.1109/ACC.2016.7526730
Teodor Tomic, Korbinian Schmid, Philipp Lutz, Andrew Mathers, Sami Haddadin, The flying anemometer: Unified estimation of wind velocity from aerodynamic power and wrenches, in Proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016, pp. 1637–1644, 2016. Project Page DOI: 10.1109/IROS.2016.7759264
Jonathan Vorndamme, Moritz Schappler, Alexander Toedtheide, Sami Haddadin, Soft robotics for the hydraulic atlas arms: Joint impedance control with collision detection and disturbance compensation, in Proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016, pp. 3360–3367, 2016. Project Page DOI: 10.1109/IROS.2016.7759517

2015

Michael Beetz, Georg Bartels, Alin Albu-Schäffer, Ferenc Balint-Benczedi, Rico Belder, Daniel Beßler, Sami Haddadin, Alexis Maldonado, Nico Mansfeld, Thiemo Wiedemeyer, Roman Weitschat, Jan-Hendrik Worch, Robotic agents capable of natural and safe physical interaction with human co-workers, in Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015, pp. 6528–6535, 2015. Project Page DOI: 10.1109/IROS.2015.7354310
Saskia Golz, Christian Osendorfer, Sami Haddadin, Using tactile sensation for learning contact knowledge: Discriminate collision from physical interaction, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, pp. 3788–3794, 2015. Project Page DOI: 10.1109/ICRA.2015.7139726
Sami Haddadin, Physical Safety in Robotics, in Proceedings of Formal Modeling and Verification of Cyber-Physical Systems, 1st International Summer School on Methods and Tools for the Design of Digital Systems, Bremen, Germany, September 2015, pp. 249–271, 2015. Project Page DOI: 10.1007/978-3-658-09994-7_9
Nico Mansfeld, Sami Haddadin, A comparison of braking strategies for elastic joint robots, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, pp. 789–796, 2015. Project Page DOI: 10.1109/ICRA.2015.7139268
Moritz Schappler, Jonathan Vorndamme, Alexander Toedtheide, David C. Conner, Oskar von Stryk, Sami Haddadin, Modeling, identification and joint impedance control of the atlas arms, in Proceedings of 15th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2015, Seoul, South Korea, November 3-5, 2015, pp. 1052–1059, 2015. Project Page DOI: 10.1109/HUMANOIDS.2015.7363499
Christopher Schindlbeck, Sami Haddadin, Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, pp. 440–447, 2015. Project Page DOI: 10.1109/ICRA.2015.7139036
Teodor Tomic, Sami Haddadin, Simultaneous estimation of aerodynamic and contact forces in flying robots: Applications to metric wind estimation and collision detection, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, pp. 5290–5296, 2015. Project Page DOI: 10.1109/ICRA.2015.7139937

2014

Knut B. Kaldestad, Sami Haddadin, Rico Belder, Geir Hovland, David A. Anisi, Collision avoidance with potential fields based on parallel processing of 3D-point cloud data on the GPU, in Proceedings of 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31 - June 7, 2014, pp. 3250–3257, 2014. Project Page DOI: 10.1109/ICRA.2014.6907326
Nico Mansfeld, Sami Haddadin, Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection, in Proceedings of 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, IL, USA, September 14-18, 2014, pp. 3904–3911, 2014. Project Page DOI: 10.1109/IROS.2014.6943111
Mehmet Can Ozparpucu, Sami Haddadin, Optimal control of elastic joints with variable damping, in Proceedings of 13th European Control Conference, ECC 2014, Strasbourg, France, June 24-27, 2014, pp. 2526–2533, 2014. Project Page DOI: 10.1109/ECC.2014.6862266
Teodor Tomic, Sami Haddadin, A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots, in Proceedings of 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, IL, USA, September 14-18, 2014, pp. 4197–4204, 2014. Project Page DOI: 10.1109/IROS.2014.6943154
Teodor Tomic, Moritz Maier, Sami Haddadin, Learning quadrotor maneuvers from optimal control and generalizing in real-time, in Proceedings of 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31 - June 7, 2014, pp. 1747–1754, 2014. Project Page DOI: 10.1109/ICRA.2014.6907087

2013

Jonathan Bohren, Chavdar Papazov, Darius Burschka, Kai Krieger, Sven Parusel, Sami Haddadin, William L. Shepherdson, Gregory D. Hager, Louis L. Whitcomb, A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks, in Proceedings of 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 3631–3638, 2013. Project Page DOI: 10.1109/ICRA.2013.6631087
Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schäffer, It Is (Almost) All about Human Safety: A Novel Paradigm for Robot Design, Control, and Planning, in Proceedings of Computer Safety, Reliability, and Security - 32nd International Conference, SAFECOMP 2013, Toulouse, France, September 24-27, 2013. Proceedings, pp. 202–215, 2013. Project Page DOI: 10.1007/978-3-642-40793-2_19
Sami Haddadin, Roman Weitschat, Felix Huber, Mehmet Can Özparpucu, Nico Mansfeld, Alin Albu-Schäffer, Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time, in Proceedings of Robotics Research - The 16th International Symposium ISRR, 16-19 December 2013, Singapore, pp. 131–148, 2013. Project Page DOI: 10.1007/978-3-319-28872-7_8
Felix Huber, Konstantin Kondak, Kai Krieger, Dominik Sommer, Marc Schwarzbach, Maximilian Laiacker, Ingo Kossyk, Sven Parusel, Sami Haddadin, Alin Albu-Schäffer, First analysis and experiments in aerial manipulation using fully actuated redundant robot arm, in Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, November 3-7, 2013, pp. 3452–3457, 2013. Project Page DOI: 10.1109/IROS.2013.6696848
Mehmet Can Ozparpucu, Sami Haddadin, Optimal control for maximizing link velocity of visco-elastic joints, in Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, November 3-7, 2013, pp. 3035–3042, 2013. Project Page DOI: 10.1109/IROS.2013.6696786
Karan Sharma, Sami Haddadin, Sebastian Minning, Johann Heindl, Tobias Bellmann, Sven Parusel, Tim Rokahr, Alin Albu-Schäffer, Evaluation of human safety in the DLR Robotic Motion Simulator using a crash test dummy, in Proceedings of 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 205–212, 2013. Project Page DOI: 10.1109/ICRA.2013.6630577
Roman Weitschat, Sami Haddadin, Felix Huber, Alin Albu-Schäffer, Dynamic optimality in real-time: A learning framework for near-optimal robot motions, in Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, November 3-7, 2013, pp. 5636–5643, 2013. Project Page DOI: 10.1109/IROS.2013.6697173

2012

David J. Braun, Florian Petit, Felix Huber, Sami Haddadin, Patrick van der Smagt, Alin Albu-Schäffer, Sethu Vijayakumar, Optimal torque and stiffness control in compliantly actuated robots, in Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 2801–2808, 2012. Project Page DOI: 10.1109/IROS.2012.6385991
Ganesh Gowrishankar, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schäffer, Etienne Burdet, A versatile biomimetic controller for contact tooling and haptic exploration, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA, pp. 3329–3334, 2012. Project Page DOI: 10.1109/ICRA.2012.6225057
Sami Haddadin, Felix Huber, Alin Albu-Schäffer, Optimal control for exploiting the natural dynamics of Variable Stiffness robots, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2012, 14-18 May, 2012, St. Paul, Minnesota, USA, pp. 3347–3354, 2012. Project Page DOI: 10.1109/ICRA.2012.6225190
Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer, A truly safely moving robot has to know what injury it may cause, in Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 5406–5413, 2012. Project Page DOI: 10.1109/IROS.2012.6386163
Sami Haddadin, Felix Huber, Kai Krieger, Roman Weitschat, Alin Albu-Schäffer, Sebastian Wolf, Werner Friedl, Markus Grebenstein, Florian Petit, Jens Reinecke, Roberto Lampariello, Intrinsically elastic robots: The key to human like performance, in Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 4270–4271, 2012. Project Page DOI: 10.1109/IROS.2012.6386289
Sami Haddadin, Kai Krieger, Nico Mansfeld, Alin Albu-Schäffer, On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level, in Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 5089–5096, 2012. Project Page DOI: 10.1109/IROS.2012.6385913
Sami Haddadin, Nico Mansfeld, Alin Albu-Schäffer, Rigid vs. elastic actuation: Requirements & performance, in Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 5097–5104, 2012. Project Page DOI: 10.1109/IROS.2012.6386227
Sami Haddadin, Mehmet Can Ozparpucu, Alin Albu-Schäffer, Optimal control for maximizing potential energy in a variable stiffness joint, in Proceedings of Proceedings of the 51th IEEE Conference on Decision and Control, CDC 2012, December 10-13, 2012, Maui, HI, USA, pp. 1199–1206, 2012. Project Page DOI: 10.1109/CDC.2012.6426032
Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, Etienne Burdet, Darwin G. Caldwell, Raffaella Carloni, Manuel G. Catalano, Ganesh Gowrishankar, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, Nikolaos G. Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C. Visser, Sebastian Wolf, Variable impedance actuators: Moving the robots of tomorrow, in Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 5454–5455, 2012. Project Page DOI: 10.1109/IROS.2012.6385433

2011

Tobias Ende, Sami Haddadin, Sven Parusel, Tilo Wüsthoff, Marc Hassenzahl, Alin Albu-Schäffer, A human-centered approach to robot gesture based communication within collaborative working processes, in Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011, pp. 3367–3374, 2011. Project Page DOI: 10.1109/IROS.2011.6094592
Markus Grebenstein, Alin Albu-Schäffer, Thomas Bahls, Maxime Chalon, Oliver Eiberger, Werner Friedl, Robin Gruber, Sami Haddadin, Ulrich Hagn, Robert Haslinger, Hannes Höppner, Stefan Jörg, Mathias Nickl, Alexander Nothhelfer, Florian Petit, Josef Reill, Nikolaus Seitz, Thomas Wimböck, Sebastian Wolf, Tilo Wüsthoff, Gerd Hirzinger, The DLR hand arm system, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 3175–3182, 2011. Project Page DOI: 10.1109/ICRA.2011.5980371
Sami Haddadin, Kai Krieger, Alin Albu-Schäffer, Exploiting elastic energy storage for cyclic manipulation: Modeling, stability, and observations for dribbling, in Proceedings of 50th IEEE Conference on Decision and Control and European Control Conference, 11th European Control Conference, CDC/ECC 2011, Orlando, FL, USA, December 12-15, 2011, pp. 690–697, 2011. Project Page DOI: 10.1109/CDC.2011.6161022
Sami Haddadin, Kai Krieger, Mirko Kunze, Alin Albu-Schäffer, Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot, in Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011, pp. 1789–1796, 2011. Project Page DOI: 10.1109/IROS.2011.6094757
Sami Haddadin, Sven Parusel, Rico Belder, Alin Albu-Schäffer, Gerd Hirzinger, Safe acting and manipulation in human environments: A key concept for robots in our society, in Proceedings of Advanced Robotics and its Social Impacts, ARSO 2011, Menlo Park, CA, USA, October 2-4, 2011, pp. 72–75, 2011. Project Page DOI: 10.1109/ARSO.2011.6301962
Jung-Jun Park, Sami Haddadin, Jae-Bok Song, Alin Albu-Schäffer, Designing optimally safe robot surface properties for minimizing the stress characteristics of human-robot collisions, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 5413–5420, 2011. Project Page DOI: 10.1109/ICRA.2011.5980282
Sven Parusel, Sami Haddadin, Alin Albu-Schäffer, Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011, pp. 4298–4305, 2011. Project Page DOI: 10.1109/ICRA.2011.5980549

2010

Alin Albu-Schäffer, Sebastian Wolf, Oliver Eiberger, Sami Haddadin, Florian Petit, Maxime Chalon, Dynamic modelling and control of variable stiffness actuators, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 2155–2162, 2010. Project Page DOI: 10.1109/ROBOT.2010.5509850
Rainer Bischoff, Johannes Kurth, Günter Schreiber, Ralf Koeppe, Alin Albu-Schäffer, Alexander Beyer, Oliver Eiberger, Sami Haddadin, Andreas Stemmer, Gerhard Grunwald, Gerd Hirzinger, The KUKA-DLR Lightweight Robot arm - a new reference platform for robotics research and manufacturing, in Proceedings of ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics), 7-9 June 2010, Munich, Germany - Parallel to AUTOMATICA, pp. 1–8, 2010. Project Page URL: https://ieeexplore.ieee.org/document/5756872/
Robert Burger, Sami Haddadin, Georg Plank, Sven Parusel, Gerd Hirzinger, The driver concept for the DLR lightweight robot III, in Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei, Taiwan, pp. 5453–5459, 2010. Project Page DOI: 10.1109/IROS.2010.5650299
Oliver Eiberger, Sami Haddadin, Michael Weis, Alin Albu-Schäffer, Gerd Hirzinger, On joint design with intrinsic variable compliance: derivation of the DLR QA-Joint, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 1687–1694, 2010. Project Page DOI: 10.1109/ROBOT.2010.5509662
Stefan Fuchs, Sami Haddadin, Maik Keller, Sven Parusel, Andreas Kolb, Michael Suppa, Cooperative bin-picking with Time-of-Flight camera and impedance controlled DLR lightweight robot III, in Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei, Taiwan, pp. 4862–4867, 2010. Project Page DOI: 10.1109/IROS.2010.5651046
Sami Haddadin, Alin Albu-Schäffer, Oliver Eiberger, Gerd Hirzinger, New insights concerning intrinsic joint elasticity for safety, in Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei, Taiwan, pp. 2181–2187, 2010. Project Page DOI: 10.1109/IROS.2010.5652037
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger, Soft-tissue injury in robotics, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 3426–3433, 2010. Project Page DOI: 10.1109/ROBOT.2010.5509854
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger, Soft-tissue injury in robotics, in Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010, pp. 3426–3433, 2010. Project Page DOI: 10.1109/ROBOT.2010.5509854
Sami Haddadin, Sven Parusel, Rico Belder, Joern Vogel, Tim Rokahr, Alin Albu-Schäffer, Gerd Hirzinger, Holistic design and analysis for the human-friendly robotic co-worker, in Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei, Taiwan, pp. 4735–4742, 2010. Project Page DOI: 10.1109/IROS.2010.5650636
Sami Haddadin, Holger Urbanek, Sven Parusel, Darius Burschka, Jürgen Roßmann, Alin Albu-Schäffer, Gerd Hirzinger, Real-time reactive motion generation based on variable attractor dynamics and shaped velocities, in Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei, Taiwan, pp. 3109–3116, 2010. Project Page DOI: 10.1109/IROS.2010.5650246
Joern Vogel, Sami Haddadin, John D. Simeral, Sergey D. Stavisky, Daniel Bacher, Leigh R. Hochberg, John P. Donoghue, Patrick van der Smagt, Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System, in Proceedings of Experimental Robotics - The 12th International Symposium on Experimental Robotics, ISER 2010, December 18-21, 2010, New Delhi and Agra, India, pp. 125–136, 2010. Project Page DOI: 10.1007/978-3-642-28572-1_9

2009

Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, Sebastian Wolf, Christoph Borst, Gerd Hirzinger, Anthropomorphic Soft Robotics - From Torque Control to Variable Intrinsic Compliance, in Proceedings of Robotics Research - The 14th International Symposium, ISRR 2009, August 31 - September 3, 2009, Lucerne, Switzerland, pp. 185–207, 2009. Project Page DOI: 10.1007/978-3-642-19457-3_12
Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Jürgen Rossmann, Gerd Hirzinger, The “DLR crash report”: Towards a standard crash-testing protocol for robot safety - Part II: Discussions, in Proceedings of 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009, pp. 280–287, 2009. Project Page DOI: 10.1109/ROBOT.2009.5152711
Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Jürgen Rossmann, Gerd Hirzinger, The “DLR Crash Report”: Towards a standard crash-testing protocol for robot safety - Part I: Results, in Proceedings of 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009, pp. 272–279, 2009. Project Page DOI: 10.1109/ROBOT.2009.5152602
Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, Gerd Hirzinger, Towards the Robotic Co-Worker, in Proceedings of Robotics Research - The 14th International Symposium, ISRR 2009, August 31 - September 3, 2009, Lucerne, Switzerland, pp. 261–282, 2009. Project Page DOI: 10.1007/978-3-642-19457-3_16

2008

Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Gerd Hirzinger, The role of the robot mass and velocity in physical human-robot interaction - Part II: Constrained blunt impacts, in Proceedings of 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA, pp. 1339–1345, 2008. Project Page DOI: 10.1109/ROBOT.2008.4543389
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger, The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts, in Proceedings of 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA, pp. 1331–1338, 2008. Project Page DOI: 10.1109/ROBOT.2008.4543388
Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca, Gerd Hirzinger, Collision detection and reaction: A contribution to safe physical Human-Robot Interaction, in Proceedings of 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France, pp. 3356–3363, 2008. Project Page DOI: 10.1109/IROS.2008.4650764
Sami Haddadin, Alin Albu-Schäffer, Michael Strohmayr, Mirko Frommberger, Gerd Hirzinger, Injury evaluation of human-robot impacts, in Proceedings of 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA, pp. 2203–2204, 2008. Project Page DOI: 10.1109/ROBOT.2008.4543534

2007

Christoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, Ulrich Hillenbrand, Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger, A humanoid upper body system for two-handed manipulation, in Proceedings of 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy, pp. 2766–2767, 2007. Project Page DOI: 10.1109/ROBOT.2007.363886
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger, Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights, in Proceedings of Robotics Research - The 13th International Symposium, ISRR 2007, November 26-29, 2007 in Hiroshima, Japan, pp. 395–407, 2007. Project Page DOI: 10.1007/978-3-642-14743-2_33
Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger, Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing, in Proceedings of Robotics: Science and Systems III, June 27-30, 2007, Georgia Institute of Technology, Atlanta, Georgia, USA, 2007. Project Page DOI: 10.15607/RSS.2007.III.028

2006

Alessandro De Luca, Alin Albu-Schäffer, Sami Haddadin, Gerd Hirzinger, Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm, in Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China, pp. 1623–1630, 2006. Project Page DOI: 10.1109/IROS.2006.282053

Preprints

2025

Andrew I. Cooper, Patrick Courtney, Kourosh Darvish, Moritz Eckhoff, Hatem Fakhruldeen, Andrea Gabrielli, Animesh Garg, Sami Haddadin, Kanako Harada, Jason Hein, Maria Hübner, Dennis Knobbe, Gabriella Pizzuto, Florian Shkurti, Ruja Shrestha, Kerstin Thurow, Rafael Vescovi, Birgit Vogel-Heuser, Ádám Wolf, Naruki Yoshikawa, Yan Zeng, Zhengxue Zhou, Henning Zwirnmann, Accelerating Discovery in Natural Science Laboratories with AI and Robotics: Perspectives and Challenges from the 2024 IEEE ICRA Workshop, Yokohama, Japan, Preprint, 2025. Project Page arXiv:2501.06847
Lukas Cha, Sonja Groß, Shuai Mao, Tim Braun, Sami Haddadin, Liang He, Stretchable Capacitive and Resistive Strain Sensors: Accessible Manufacturing Using Direct Ink Writing, Preprint, 2025. Project Page arXiv:2502.18363
Cesare Tonola, Marco Faroni, Saeed Abdolshah, Mazin Hamad, Sami Haddadin, Nicola Pedrocchi, Manuel Beschi, Reactive and Safety-Aware Path Replanning for Collaborative Applications, Preprint, 2025. Project Page arXiv:2503.07192
Yansong Wu, Xiao Chen, Yu Chen, Hamid Sadeghian, Fan Wu, Zhenshan Bing, Sami Haddadin, Alexander König, Alois Knoll, SharedAssembly: A Data Collection Approach via Shared Tele-Assembly, Preprint, 2025. Project Page arXiv:2503.12287
Cristiana de Farias, Luis F. C. Figueredo, Riddhiman Laha, Maxime Adjigble, Brahim Tamadazte, Rustam Stolkin, Sami Haddadin, Naresh Marturi, Geometrically-Aware One-Shot Skill Transfer of Category-Level Objects, Preprint, 2025. Project Page arXiv:2503.15371
Lingyun Chen, Xinrui Zhao, Marcos P. S. Campanha, Alexander Wegener, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin, Enhanced Robotic Navigation in Deformable Environments using Learning from Demonstration and Dynamic Modulation, Preprint, 2025. Project Page arXiv:2506.20376
Shreenabh Agrawal, Hugo T. M. Kussaba, Lingyun Chen, Allen Emmanuel Binny, Abdalla Swikir, Pushpak Jagtap, Sami Haddadin, Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems, Preprint, 2025. Project Page arXiv:2507.03992
Zewen Yang, Dongfa Zhang, Xiaobing Dai, Fengyi Yu, Chi Zhang, Bingkun Huang, Hamid Sadeghian, Sami Haddadin, Streaming Generated Gaussian Process Experts for Online Learning and Control, Preprint, 2025. Project Page arXiv:2508.03679
Liding Zhang, Kejia Chen, Kuanqi Cai, Yu Zhang, Yixuan Dang, Yansong Wu, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll, Direction Informed Trees (DIT): Optimal Path Planning via Direction Filter and Direction Cost Heuristic*, Preprint, 2025. Project Page arXiv:2508.19168
Liding Zhang, Zhenshan Bing, Yu Zhang, Kuanqi Cai, Lingyun Chen, Fan Wu, Sami Haddadin, Alois Knoll, Elliptical K-Nearest Neighbors - Path Optimization via Coulomb’s Law and Invalid Vertices in C-space Obstacles, Preprint, 2025. Project Page arXiv:2508.19771
Liding Zhang, Yao Ling, Zhenshan Bing, Fan Wu, Sami Haddadin, Alois Knoll, Tree-Based Grafting Approach for Bidirectional Motion Planning with Local Subsets Optimization, Preprint, 2025. Project Page arXiv:2508.19776
Liding Zhang, Sicheng Wang, Kuanqi Cai, Zhenshan Bing, Fan Wu, Chaoqun Wang, Sami Haddadin, Alois Knoll, APT: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors*, Preprint, 2025. Project Page arXiv:2508.19790
Liding Zhang, Kuanqi Cai, Yu Zhang, Zhenshan Bing, Chaoqun Wang, Fan Wu, Sami Haddadin, Alois Knoll, Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler, Preprint, 2025. Project Page arXiv:2508.21549
Zewen Yang, Xiaobing Dai, Dongfa Zhang, Yu Li, Ziyang Meng, Bingkun Huang, Hamid Sadeghian, Sami Haddadin, Prompt2Auto: From Motion Prompt to Automated Control via Geometry-Invariant One-Shot Gaussian Process Learning, Preprint, 2025. Project Page arXiv:2509.14040
Yu Li, Hamid Sadeghian, Zewen Yang, Valentin Le Mesle, Sami Haddadin, Constraint-Consistent Control of Task-Based and Kinematic RCM Constraints for Surgical Robots, Preprint, 2025. Project Page arXiv:2509.14075
Xiwei Zhao, Yiwei Wang, Yansong Wu, Fan Wu, Teng Sun, Zhonghua Miao, Sami Haddadin, Alois Knoll, Video-to-BT: Generating Reactive Behavior Trees from Human Demonstration Videos for Robotic Assembly, Preprint, 2025. Project Page arXiv:2509.16611
Tianle Ni, Xiao Chen, Hamid Sadeghian, Sami Haddadin, Tele-rehabilitation with online skill transfer and adaptation in ℝ^ 10761 S^, Preprint, 2025. Project Page arXiv:2510.00770
Zhimin Hou, Jiacheng Hou, Xiao Chen, Hamid Sadeghian, Tianyu Ren, Sami Haddadin, Learning a Shape-adaptive Assist-as-needed Rehabilitation Policy from Therapist-informed Input, Preprint, 2025. Project Page arXiv:2510.04666
Robin Jeanne Kirschner, Kübra Karacan, Alessandro Melone, Seongjin Bien, Samuel Schneider, Sami Haddadin, treeofrobots_usertool (Version 2), Accessed on YYYY-MM-DD., 2025. Project Page DOI: 10.5281/ZENODO.14825187

2024

Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin, Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk, Preprint, 2024. Project Page arXiv:2401.08282
Dennis Ossadnik, Elisabeth Rose Jensen, Sami Haddadin, ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk, Preprint, 2024. Project Page arXiv:2401.08292
Kejia Chen, Zhenshan Bing, Yansong Wu, Fan Wu, Liding Zhang, Sami Haddadin, Alois Knoll, Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints, Preprint, 2024. Project Page arXiv:2401.17154
Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo, Sami Haddadin, Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC, Preprint, 2024. Project Page arXiv:2402.05037
Jon Arrizabalaga, Lukas Pries, Riddhiman Laha, Runkang Li, Sami Haddadin, Markus Ryll, Geometric Slosh-Free Tracking for Robotic Manipulators, Preprint, 2024. Project Page arXiv:2402.05197
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin, Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions, Preprint, 2024. Project Page arXiv:2403.05447
Martin Schonger, Hugo T. M. Kussaba, Lingyun Chen, Luis F. C. Figueredo, Abdalla Swikir, Aude Billard, Sami Haddadin, Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots, Preprint, 2024. Project Page arXiv:2403.08178
Robin Jeanne Kirschner, Carina Micheler, Yangcan Zhou, Sebastian Siegner, Mazin Hamad, Claudio Glowalla, Jan Neumann, Nader Rajaei, Rainer Burgkart, Sami Haddadin, Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database, Preprint, 2024. Project Page arXiv:2404.04004
Alexander Moortgat-Pick, Anna Adamczyk, Daniel A Duecker, Sami Haddadin, SVan: A Mobile Hub as a Field Robotics Development and Deployment Platform, Preprint, 2024. Project Page arXiv:2405.03890
Dennis Ossadnik, Vasilije Rakcevic, Mehmet Can Yildirim, Edmundo Pozo Fortunic, Hugo T. M. Kussaba, Abdalla Swikir, Sami Haddadin, Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach, Preprint, 2024. Project Page arXiv:2407.12655
Lingyun Chen, Abdeldjallil Naceri, Abdalla Swikir, Sandra Hirche, Sami Haddadin, Autonomous and Teleoperation Control of a Drawing Robot Avatar, Preprint, 2024. Project Page arXiv:2407.20156
Sonja Groß, Michael Ratzel, Edgar Welte, Diego Hidalgo-Carvajal, Lingyun Chen, Edmundo Pozo Fortunic, Amartya Ganguly, Abdalla Swikir, Sami Haddadin, OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism, Preprint, 2024. Project Page arXiv:2408.02293
Robin Jeanne Kirschner, Jinyu Yang, Edonis Elshani, Carina M. Micheler, Tobias Leibbrand, Dirk Müller, Claudio Glowalla, Nader Rajaei, Rainer Burgkart, Sami Haddadin, Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand, Preprint, 2024. Project Page arXiv:2408.06175
Christopher Herneth, Junnan Li, Muhammad Hilman Fatoni, Amartya Ganguly, Sami Haddadin, Object Augmentation Algorithm: Computing virtual object motion and object induced interaction wrench from optical markers, Preprint, 2024. Project Page arXiv:2408.07434
Anran Zhang, Kübra Karacan, Hamid Sadeghian, Yansong Wu, Fan Wu, Sami Haddadin, Tactile-Morph Skills: Energy-Based Control Meets Data-Driven Learning, Preprint, 2024. Project Page arXiv:2408.12285
Junnan Li, Lingyun Chen, Johannes Ringwald, Edmundo Pozo Fortunic, Amartya Ganguly, Sami Haddadin, Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger, Preprint, 2024. Project Page arXiv:2408.13044
Kübra Karacan, Anran Zhang, Hamid Sadeghian, Fan Wu, Sami Haddadin, Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control, Preprint, 2024. Project Page arXiv:2408.14219
Christopher Herneth, Amartya Ganguly, Sami Haddadin, Functional kinematic and kinetic requirements of the upper limb during activities of daily living: a recommendation on necessary joint capabilities for prosthetic arms, Preprint, 2024. Project Page arXiv:2408.14361
Lingyun Chen, Haoyu Yu, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin, Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D, Preprint, 2024. Project Page arXiv:2408.16420
Muhammad Hilman Fatoni, Christopher Herneth, Junnan Li, Fajar Budiman, Amartya Ganguly, Sami Haddadin, Optimizing Interaction Space: Enlarging the Capture Volume for Multiple Portable Motion Capture Devices, Preprint, 2024. Project Page arXiv:2408.17287
Jicong Ao, Yansong Wu, Fan Wu, Sami Haddadin, Behavior Tree Generation using Large Language Models for Sequential Manipulation Planning with Human Instructions and Feedback, Preprint, 2024. Project Page arXiv:2409.09435
Jicong Ao, Fan Wu, Yansong Wu, Abdalla Swikir, Sami Haddadin, LLM as BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning, Preprint, 2024. Project Page arXiv:2409.10444
Junewhee Ahn, Jaesug Jung, Yisoo Lee, Hokyun Lee, Sami Haddadin, Jaeheung Park, Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics, Preprint, 2024. Project Page arXiv:2409.10903
Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Alois Knoll, Sami Haddadin, TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation, Preprint, 2024. Project Page arXiv:2409.11047
Kejia Chen, Zheng Shen, Yue Zhang, Lingyun Chen, Fan Wu, Zhenshan Bing, Sami Haddadin, Alois Knoll, Learning Task Planning from Multi-Modal Demonstration for Multi-Stage Contact-Rich Manipulation, Preprint, 2024. Project Page arXiv:2409.11863
Dasharadhan Mahalingam, Aditya Patankar, Riddhiman Laha, Srinivasan Lakshminarayanan, Sami Haddadin, Nilanjan Chakraborty, A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts, Preprint, 2024. Project Page arXiv:2410.06295
Liding Zhang, Kuanqi Cai, Zewei Sun, Zhenshan Bing, Chaoqun Wang, Luis F. C. Figueredo, Sami Haddadin, Alois Knoll, Motion Planning for Robotics: A Review for Sampling-based Planners, Preprint, 2024. Project Page arXiv:2410.19414
Haowen Yao, Riddhiman Laha, Anirban Sinha, Jonas Hall, Luis F. C. Figueredo, Nilanjan Chakraborty, Sami Haddadin, On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach, Preprint, 2024. Project Page arXiv:2410.22049
Erfan Shahriari, Kim K. Peper, Matej Hoffmann, Sami Haddadin, Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach, Preprint, 2024. Project Page arXiv:2412.18869
Robin Jeanne Kirschner, Kübra Karacan, Alessandro Melone, Seongjin Bien, Samuel Schneider, Sami Haddadin, treeofrobots_usertool (Version 1), Accessed on YYYY-MM-DD., 2024. Project Page DOI: 10.5281/ZENODO.14517292

2023

Henning Zwirnmann, Dennis Knobbe, Utku Culha, Sami Haddadin, Dual-Material 3D-Printed PaCoMe-Like Fingers for Flexible Biolaboratory Automation, Preprint, 2023. Project Page arXiv:2302.03644
Hugo Tadashi M. Kussaba, Abdalla Swikir, Fan Wu, Anastasija Demerdjieva, Gitta Kutyniok, Sami Haddadin, Learning optimal controllers: a dynamical motion primitive approach, Preprint, 2023. Project Page arXiv:2306.06520
Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba, Nico Mansfeld, Saeed Abdolshah, Abdalla Swikir, Wolfram Burgard, Sami Haddadin, Fast yet predictable braking manoeuvers for real-time robot control, Preprint, 2023. Project Page arXiv:2306.06525
Philipp Wicke, Lütfi Kerem Senel, Shengqiang Zhang, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin, Hinrich Schütze, Towards Language-Based Modulation of Assistive Robots through Multimodal Models, Preprint, 2023. Project Page arXiv:2306.14830
Kejia Chen, Zhenshan Bing, Fan Wu, Yuan Meng, André Kraft, Sami Haddadin, Alois Knoll, Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures, Preprint, 2023. Project Page arXiv:2307.10153
Moritz Eckhoff, Dennis Knobbe, Henning Zwirnmann, Abdalla Swikir, Sami Haddadin, Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles, Preprint, 2023. Project Page arXiv:2309.06873
Edmundo Pozo Fortunic, Mehmet Can Yildirim, Dennis Ossadnik, Abdalla Swikir, Saeed Abdolshah, Sami Haddadin, Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept, Preprint, 2023. Project Page arXiv:2309.07873
Mazin Hamad, Simone Nertinger, Robin Jeanne Kirschner, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin, A Concise Overview of Safety Aspects in Human-Robot Interaction, Preprint, 2023. Project Page arXiv:2309.09936
Michael G. Adam, Sebastian Eger, Martin Piccolrovazzi, Maged Iskandar, Joern Vogel, Alexander Dietrich, Seongjin Bien, Jon Skerlj, Abdeldjallil Naceri, Eckehard G. Steinbach, Alin Albu-Schäffer, Sami Haddadin, Wolfram Burgard, Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments, Preprint, 2023. Project Page arXiv:2310.05600
Shengqiang Zhang, Philipp Wicke, Lütfi Kerem Senel, Luis F. C. Figueredo, Abdeldjallil Naceri, Sami Haddadin, Barbara Plank, Hinrich Schütze, LoHoRavens: A Long-Horizon Language-Conditioned Benchmark for Robotic Tabletop Manipulation, Preprint, 2023. Project Page arXiv:2310.12020
Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll, Flexible Informed Trees (FIT): Adaptive Batch-Size Approach for Informed Sampling-Based Planner*, Preprint, 2023. Project Page arXiv:2310.12828
Sonja Groß, Amartya Ganguly, Hendrik Dietz, Sami Haddadin, The Next Evolution of Artificial Sense of Touch, Preprint, 2023. Project Page arXiv:2310.16641
Diego Hidalgo-Carvajal, Hanzhi Chen, Gemma Carolina Bettelani, Jaesug Jung, Melissa Zavaglia, Laura Busse, Abdeldjallil Naceri, Stefan Leutenegger, Sami Haddadin, Anthropomorphic Grasping with Neural Object Shape Completion, Preprint, 2023. Project Page arXiv:2311.02510

2022

Peter So, Jonas Wittmann, Patrick Ruhkamp, Andriy Sarabakha, Sami Haddadin, Towards Remote Robotic Competitions: An Internet-Connected Task Board and Dashboard, Preprint, 2022. Project Page arXiv:2201.09565
Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, ISO/TS 15066: How Different Interpretations Affect Risk Assessment, Preprint, 2022. Project Page arXiv:2203.02706
Riddhiman Laha, Ruiai Sun, Wenxi Wu, Dasharadhan Mahalingam, Nilanjan Chakraborty, Luis F. C. Figueredo, Sami Haddadin, Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees, Preprint, 2022. Project Page arXiv:2203.10649
Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Rogerio Bonatti, Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers, Preprint, 2022. Project Page arXiv:2203.13411
Arthur Bucker, Luis F. C. Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Sai Vemprala, Rogerio Bonatti, LaTTe: Language Trajectory TransformEr, Preprint, 2022. Project Page arXiv:2208.02918
Anna Reithmeir, Luis F. C. Figueredo, Sami Haddadin, Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP, Preprint, 2022. Project Page arXiv:2208.07588
Johannes Ringwald, Samuel Schneider, Lingyun Chen, Dennis Knobbe, Lars Johannsmeier, Abdalla Swikir, Sami Haddadin, Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics, Preprint, 2022. Project Page arXiv:2210.10015
Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin, A Solution to Slosh-free Robot Trajectory Optimization, Preprint, 2022. Project Page arXiv:2210.12614
Marvin Becker, Johannes Köhler, Sami Haddadin, Matthias A. Müller, Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence, Preprint, 2022. Project Page arXiv:2210.16106
Marvin Becker, Philipp Caspers, Tom Hattendorf, Torsten Lilge, Sami Haddadin, Matthias Albrecht Müller, Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators, Preprint, 2022. Project Page arXiv:2212.05815
Dennis Ossadnik, Mehmet Can Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah, Sami Haddadin, BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots, Preprint, 2022. Project Page arXiv:2212.14741

2021

Carlos Magno C. O. Valle, Sami Haddadin, SyReNets: Symbolic Residual Neural Networks, Preprint, 2021. Project Page arXiv:2105.14396
Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction, Preprint, 2021. Project Page arXiv:2109.07201
Maximilian Ulmer, Elie Aljalbout, Sascha Schwarz, Sami Haddadin, Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space, Preprint, 2021. Project Page arXiv:2110.09904

2020

Nirnai Rao, Elie Aljalbout, Axel Sauer, Sami Haddadin, How to Make Deep RL Work in Practice, Preprint, 2020. Project Page arXiv:2010.13083
Elie Aljalbout, Ji Chen, Konstantin Ritt, Maximilian Ulmer, Sami Haddadin, Learning Vision-based Reactive Policies for Obstacle Avoidance, Preprint, 2020. Project Page arXiv:2010.16298

2019

Axel Sauer, Elie Aljalbout, Sami Haddadin, Tracking Holistic Object Representations, Preprint, 2019. Project Page arXiv:1907.12920

2018

Lars Johannsmeier, Malkin Gerchow, Sami Haddadin, A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control, Preprint, 2018. Project Page arXiv:1805.08576
Teodor Tomic, Philipp Lutz, Korbinian Schmid, Andrew Mathers, Sami Haddadin, Simultaneous Contact and Aerodynamic Force Estimation (s-CAFE) for Aerial Robots, Preprint, 2018. Project Page arXiv:1810.12908