Thesis

Safety Awareness for Rigid and Elastic Joint Robots: An Impact Dynamics and Control Framework

Research Interests

• Robotics

Contact

• LinkedIn
• Google Scholar

Selected Publications

• 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, 2023. [Project Page]
• Riddhiman Laha, Wenxi Wu, Ruiai Sun, Nico Mansfeld, Luis F. C. Figueredo, Sami Haddadin, S*: On Safe and Time Efficient Robot Motion Planning, 2023. [Project Page]
• 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, 2022. [Project Page]
• Nico Mansfeld, Guillermo Gómez Peña, Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin, Global Safety Characteristics of Wheeled Mobile Manipulators, 2022. [Project Page]
• Alexander Kurdas, Mazin Hamad, Jonathan Vorndamme, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, Online Payload Identification for Tactile Robots Using the Momentum Observer, 2022. [Project Page]
• 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, 2022. [Project Page]
• Robin Jeanne Kirschner, Florian Martineau, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance, 2022. [Project Page]
• Nico Mansfeld, Manuel Keppler, Sami Haddadin, Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach, 2021. [Project Page]
• Robin Jeanne Kirschner, João Jantalia, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems, 2021. [Project Page]
• 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, 2021. [Project Page]
• Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066, 2021. [Project Page]
• 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, 2021. [Project Page]
• 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, 2019. [Project Page]
• Mazin Hamad, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, The Role of Robot Payload in the Safety Map Framework, 2019. [Project Page]
• 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, 2018. [Project Page]
• Nico Mansfeld, Fabian Beck, Alexander Dietrich, Sami Haddadin, Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators, 2017. [Project Page]
• 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, 2017. [Project Page]
• Nico Mansfeld, Christian Ott, Sami Haddadin, Maximal input limits for independent SISO control in modal space under consideration of actuator constraints, 2016. [Project Page]
• Nico Mansfeld, Sami Haddadin, A comparison of braking strategies for elastic joint robots, 2015. [Project Page]
• 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, 2015. [Project Page]
• Nico Mansfeld, Sami Haddadin, Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection, 2014. [Project Page]
• 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, 2013. [Project Page]
• Sami Haddadin, Kai Krieger, Nico Mansfeld, Alin Albu-Schäffer, On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level, 2012. [Project Page]
• Sami Haddadin, Nico Mansfeld, Alin Albu-Schäffer, Rigid vs. elastic actuation: Requirements \& performance, 2012. [Project Page]