October 2025
- The Foundation for Tactile Robots: Approaching the Holistic Analysis of a Robot's Force Sensing Capabilities
- Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems
- Model-Mediated Teleoperation with 3D Dynamic Environment Tracking (MMT-DET): A Comparative Study of Task Performance with Time-Domain Passivity Control
- Model Predictive Control for Cable-Driven Remote Actuation Systems with Friction and Compliance
- Investigating the Fitness of Finger Grippers for Dynamic Tactile Manipulation Under Static Object Conditions
- Frozen Triumph: Lessons from GARMI's Bimanual Trophy Handover at the Kandahar Ski World Cup - Shaping Current Research Directions
- Enhanced Robotic Navigation in Deformable Environments using Learning from Demonstration and Dynamic Modulation
- Design Optimization of a Single-DoF Gait Rehabilitation Robot for a Domestic Environment
- CIT: Context-Based Biased Batch-Sampling for Almost-Surely Asymptotically Optimal Motion Planning
- Braking Control in Clutched-Elastic Robots: Coordinating the Underactuation-to-Actuation Transition
- A Whole-Body Unified Force-Impedance Control for Non-holonomic Service Robots
- Whole-Body Impedance Control of Service Robot GARMI with Non-Holonomic Constraint
- IBSA Joint: A Fully Integrated Bi-Stiffness Actuator Joint for Precise Energy Transfer Timing in Explosive Motion Tasks
May 2025
- The qPCRBot: Combining Automated Data Handling, Standardization, and Robotic Labware Transport for Better qPCR Measurements
- Tension Dependent Twisted String Actuator Modelling and Efficacy Benchmarking in Force and Impedance Control
- TacDiffusion: Force-Domain Diffusion Policy for Precise Tactile Manipulation
- Robust Nonprehensile Dynamic Object Transportation: A Closed-Loop Sensitivity Approach
- On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-Based Approach
- MonLog: MONotonic-Constrained LOGistic Regressions for Automated Safety Curve Design
- LLM-as-BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning
- LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks
- Introducing Collaborative Robots as a First Step Towards Autonomous Reprocessing of Medical Equipment
- Evaluating Human-Robot Skill Gaps in Electrical Circuit Inspection: A New Electronic Task Board for Benchmarking Manipulation
- Enhancing Robotic Perception with Low-Cost Fast Active Vision Achieving Sub-Millimeter Accurate Marker-Based Pose Estimation
- Dynamic End Effector Trajectory Tracking for Small-Scale Underwater Vehicle-Manipulator Systems (UVMS): Modeling, Control, and Experimental Validation
- Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic
November 2024
October 2024
- Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control
- Trajectory Planning for Non-Prehensile Object Transportation
- Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand
- Optimizing Interaction Space: Enlarging the Capture Volume for Multiple Portable Motion Capture Devices
- OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism
- Ontology Based AI Planning and Scheduling for Robotic Assembly
- Object Augmentation Algorithm: Computing virtual object motion and object induced interaction wrench from optical markers
- Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation
- Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger
- Generating Force Vectors from Projective Truncated Signed Distance Fields for Collision Avoidance and Haptic Feedback
- Functional kinematic and kinetic requirements of the upper limb during activities of daily living: a recommendation on necessary joint capabilities for prosthetic arms
- Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning
- Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach
- Elliptical K-Nearest Neighbors - Path Optimization via Coulomb's Law and Invalid Vertices in C-space Obstacles
- Demonstration to Adaptation: A User-Guided Framework for Sequential and Real-Time Planning
- An Optimization-based Scheme for Real-time Transfer of Human Arm Motion to Robot Arm
- An Adaptive Robotic Exoskeleton for Comprehensive Force-Controlled Hand Rehabilitation
- A Tactile Lightweight Exoskeleton for Teleoperation: Design and Control Performance
- A Scalable Platform for Robot Learning and Physical Skill Data Collection
- A Novel Variable Stiffness Suspension System for Improved Stability and Control of Tactile Mobile Manipulators
- A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts
September 2024
May 2024
- Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database
- Torque Transmission in Double-Tendon Sheath Driven Actuators for Application in Exoskeletons
- Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control
- Safe-By-Design Digital Twins for Human-Robot Interaction: A Use Case for Humanoid Service Robots
- Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions
- RETOM: Leveraging Maneuverability for Reactive Tool Manipulation using Wrench-Fields
- Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints
- Predicting against the Flow: Boosting Source Localization by Means of Field Belief Modeling using Upstream Source Proximity
- Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach
- Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots
- Geometric Slosh-Free Tracking for Robotic Manipulators
- Enhancing the Tracking Performance of Passivity-based High-Frequency Robot Cloud Control
- Design and Implementation of a Robotic Testbench for Analyzing Pincer Grip Execution in Human Specimen Hands
- CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation
- Autonomous UAV Mission Cycling: A Mobile Hub Approach for Precise Landings and Continuous Operations in Challenging Environments
- Autonomous and Teleoperation Control of a Drawing Robot Avatar
- Accurate Kinematic Modeling using Autoencoders on Differentiable Joints
- 1 kHz Behavior Tree for Self-adaptable Tactile Insertion
March 2024
December 2023
- The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control
- Human-Inspired Audiovisual Inducement of Whole-Body Responses
- A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading
- Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments
September 2023
- Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation
- Individualized Training of Back Muscles Using Iterative Learning Control of a Compliant Balance Board
- Estimating Joint Kinematics and Muscles Forces During Robotic Rehabilitation to Detect and Counteract Reduced Ankle Mobility
- Assessing Human-Human Kinematics for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A Pilot Study
- Tendon to Object Space: Evaluation of Anthropomorphic Finger for Human-Like Performance
- Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC
- A Concise Overview of Safety Aspects in Human-Robot Interaction
August 2023
- Identifying Requirements for the Implementation of Robot-Assisted Physical Therapy in Humanoids: A user-centered design approach
- Assessing Perceived Discomfort and Proxemic Behavior towards Robots: A Comparative Study between Real and Augmented Reality Presentations
- Self-Organization and Collaboration in Robotic Manufacturing Systems
July 2023
- Robust Independent Component Analysis based EMG decomposition - a comparison study
- Real-Time-Capable Muscle Force Estimation for Monitoring Robotic Rehabilitation Therapy in the Intensive Care Unit
- From Human Hand to Grasp Surface Detection, Tracking \& Analysis
- Error-related Potentials in a Virtual Pick-and-Place Experiment: Toward Real-world Shared-control
June 2023
- Influence of robot motion and human factors on users' perceived safety in HRI
- Data Recording for Responsible Robotics
- Soft Sensing Skins for Arbitrary Objects: An Automatic Framework
- S*: On Safe and Time Efficient Robot Motion Planning
- LATTE: LAnguage Trajectory TransformEr
- Identification of a Generalized Base Inertial Parameter Set of Robotic Manipulators Considering Mounting Configurations
- A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud
- A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics
January 2023
- Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers\(^\mbox*\)
- Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles
- Shared Autonomy Control for Slosh-Free Teleoperation
- Labelling Lightweight Robot Energy Consumption: A Mechatronics-Based Benchmarking Metric Set
- I\(^\mbox2\)mpedance - A Passivity Based Integrative Impedance Controller for Precise and Compliant Manipulation and Interaction
- Contact-Aware Shaping and Maintenance of Deformable Linear Objects With Fixtures
- A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration
December 2022
November 2022
October 2022
- Robust Cartesian Kinematics Estimation for Task-Space Control Systems
- Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space
- Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers
- Real-time IMU-Based Learning: a Classification of Contact Materials
- Passivity-Based Skill Motion Learning in Stiffness-Adaptive Unified Force-Impedance Control
- On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G
- Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance
- Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP
- Core Processes in Intelligent Robotic Lab Assistants: Flexible Liquid Handling
- Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance
- BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots
- A-RIFT: Visual Substitution of Force Feedback for a Zero-Cost Interface in Telemanipulation
- A Solution to Slosh-free Robot Trajectory Optimization
June 2022
May 2022
- Online Payload Identification for Tactile Robots Using the Momentum Observer
- Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction
- Development of a Collaborative Wheeled Mobile Robot: Design Considerations, Drive Unit Torque Control, and Preliminary Result
- Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees
- An MPC Framework For Planning Safe \& Trustworthy Robot Motions
December 2021
June 2021
- ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk
- RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema
- Reactive Cooperative Manipulation based on Set Primitives and Circular Fields
- Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk
- CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems
March 2021
- Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066
- Legal and Technical Considerations on Unified, Safe and Data-Protected Haptic Telepresence in Healthcare
- Involuntary Motion in Human-Robot Interaction: Effect of Interactive User Training on the Occurrence of Human Startle-Surprise Motion
- Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups
- Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066
- A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities
January 2021
- Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking
- Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification
- GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing
- Drawing Elon Musk: A Robot Avatar for Remote Manipulation
- Coordinated Motion Generation and Object Placement: A Reactive Planning and Landing Approach
- A Dual Doctor-Patient Twin Paradigm for Transparent Remote Examination, Diagnosis, and Rehabilitation
November 2020
November 2019
October 2019
September 2019
May 2019
- Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype
- Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task
- Dentronics: Review, First Concepts and Pilot Study of a New Application Domain for Collaborative Robots in Dental Assistance
- A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control
October 2018
- The Art of Manipulation: Learning to Manipulate Blindly
- Smooth Point-to-Point Trajectory Planning in \textdollarSE\textdollar (3)with Self-Collision and Joint Constraints Avoidance
- Passivity Based Iterative Learning of Admittance-Coupled Dynamic Movement Primitives for Interaction with Changing Environments
November 2017
September 2017
June 2017
October 2016
September 2015
January 2015
- Using tactile sensation for learning contact knowledge: Discriminate collision from physical interaction
- Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks
- Simultaneous estimation of aerodynamic and contact forces in flying robots: Applications to metric wind estimation and collision detection
- A comparison of braking strategies for elastic joint robots
September 2014
June 2014
November 2013
September 2013
May 2013
October 2012
- Variable impedance actuators: Moving the robots of tomorrow
- Rigid vs. elastic actuation: Requirements \& performance
- Optimal torque and stiffness control in compliantly actuated robots
- On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level
- Intrinsically elastic robots: The key to human like performance
- A truly safely moving robot has to know what injury it may cause
January 2012
December 2011
October 2011
September 2011
May 2011
October 2010
- The driver concept for the DLR lightweight robot III
- Real-time reactive motion generation based on variable attractor dynamics and shaped velocities
- New insights concerning intrinsic joint elasticity for safety
- Holistic design and analysis for the human-friendly robotic co-worker
- Cooperative bin-picking with Time-of-Flight camera and impedance controlled DLR lightweight robot III