Here the scientific publications (primarily journal and conference papers) can be found, that have been produced in the project.

  • 2022

    Y Wang, N Dehio, A Kheddar 
    On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts 
    IEEE Robotics and Automation Letters (RA-L), 2022 
    https://ieeexplore.ieee.org/document/9691802  

    M Jongeneel, A Bernardino, N van de Wouw, A Saccon  
    Model-Based 6D Visual Object Tracking with Impact Collision Models  
    IEEE-CSS American Control Conference (ACC), 2022 
    https://ieeexplore.ieee.org/document/9867622 

    J van Steen, N van de Wouw, A Saccon 
    Robot control for simultaneous impact tasks via QP based reference spreading 
    IEEE-CSS American Control Conference (ACC), 2022 
    https://ieeexplore.ieee.org/document/9867812 

    M Bombile, A Billard
    Dual-arm control for coordinated fast grabbing and tossing of an object 
    IEEE Robotics and Automation Magazine (RA-M), 2022 
    https://ieeexplore.ieee.org/document/9787984 

    A. Kurdas, M. Hamad, J. Vorndamme, N. Mansfeld, S. Abdolshah and S. Haddadin
    Online Payload Identification for Tactile Robots Using the Momentum Observer
    IEEE International Conference on Robotics and Automation (ICRA), 2022
    https://ieeexplore.ieee.org/document/9811691

    Y. Wang, N. Dehio, A. Kheddar,
    Predicting impact-induced joint velocity jumps on kinematics-controlled manipulators
    IEEE Robotics and Automation Letters (RA-L)
    https://ieeexplore.ieee.org/document/9757864 

    M. Jongeneel, A. Saccon
    Geometric Savitzky-Golay Filtering of Noisy Rotations on SO(3) with Simultaneous Angular Velocity and Acceleration Estimation
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    https://hal.archives-ouvertes.fr/hal-03603826/ (preprint)

    M. Lubbers, J. van Voorst, M. Jongeneel, A. Saccon
    Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion during Release
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

    https://hal.archives-ouvertes.fr/hal-03740751 (preprint)

    S. Haddadin, S. Parusel, L. Johannsmeier, S. Golz, S. Gabl, F. Walch, M. Sabaghian, C. Jähne, L. Hausperger, S. Haddadin
    The Franka Emika Robot: A Reference Platform for Robotics Research and Education
    IEEE Robotics & Automation Magazine (RA-M)
    https://ieeexplore.ieee.org/document/9721535 

    T. Steinecker, A. Kurdas, N. Mansfeld, M. Hamad, R. J. Kirschner, S. Abdolshah, S. Haddadin
    Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimisation in Human-Robot Interaction
    2022 International Conference on Robotics and Automation (ICRA)
    https://ieeexplore.ieee.org/document/9811582

    M. Eckhoff, R. J. Kirschner, E. Kern, S. Abdolshah, S. Haddadin
    An MPC Framework For Planning Safe & Trustworthy Robot Motions
    2022 International Conference on Robotics and Automation (ICRA)
    https://ieeexplore.ieee.org/document/9812160 

    N. Dehio, Y. Wang, A. Kheddar,
    Dual-arm box grabbing with impact-aware model predictive control utilizing soft deformable end-effector pads
    2022 IEEE Robotics and Automation Letters (RA-L)
    https://ieeexplore.ieee.org/document/9732679 

    S. A. Baradaran Birjandi, N. Dehio, A. Kheddar, S. Haddadin,
    Robust cartesian kinematics estimation for task-space control systems
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    [weblink not yet available]

    C. M. Valle, A. A. Kurdas, E. P. Fortunić, S. Abdolshah, S. Haddadin
    Real-Time IMU-Based Learning: A Classification of Contact Materials
    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    [weblink not yet available]

    J. Vorndamme, L. F. C. Figueredo, S. Haddadin 
    Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space
    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    [weblink not yet available]

  • 2021

    Ilias Aouaj, Vincent Padois, Alessandro Saccon   
    Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study  
    IEEE International Conference on Robotics and Automation (ICRA) 2021
    https://ieeexplore.ieee.org/abstract/document/9561768 
     

    N Dehio, A Kheddar  
    Robot-Safe Impacts with Soft Contacts Based on Learned Deformations 
    IEEE Robotics and Automation Letters (RA-L) and ICRA 2021
    https://ieeexplore.ieee.org/document/9561678  

    R J Kirschner, J Jantalia J, N Mansfeld, S Abdolshah, S Haddadin, 
    CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems  
    IEEE International Conference on Robotics and Automation (ICRA) 2021  
    https://ieeexplore.ieee.org/document/9561528 

    H Khurana, M Bombile Bosongo, A Billard, 
    Learning to Hit: A statistical Dynamical System based approach  
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021 
    https://ieeexplore.ieee.org/document/9635976 

    J Vorndamme, S Haddadin  
    Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification  
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021 
    https://ieeexplore.ieee.org/document/9636091 

    R J Kirschner, A Kurdas, K Karacan, P Junge, S A Baradaran Birjandi, N Mansfeld, S Abdolshah, S Haddadin 
    Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking  
    International Conference on Intelligent Robots and Systems (IROS) 2021  
    https://ieeexplore.ieee.org/document/9636329 

    R J Kirschner, N Mansfeld, S Abdolshah, S Haddadin  
    Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066  
    IEEE International Conference on Intelligence and Safety for Robotics (ISR) 2021 
    https://ieeexplore.ieee.org/document/9419494 

    R J Kirschner, N Mansfeld, G Gomez Pena, S Abdolshah, S Haddadin  
    Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066 
    IEEE International Conference on Intelligence and Safety for Robotics (ISR) 2021 
    https://ieeexplore.ieee.org/document/9419495 

    M Hamad, A Kurdas, S Abdolshah, S Haddadin  
    A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities  
    IEEE International Conference on Intelligence and Safety for Robotics (ISR) 2021 
    https://ieeexplore.ieee.org/document/9419570 

    M Hamad, A Kurdas, S Abdolshah, S Haddadin  
    Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups  
    IEEE International Conference on Intelligence and Safety for Robotics (ISR) 2021
    https://ieeexplore.ieee.org/document/9419569 

  • 2020

    S A Baradaran Birjandi, S Haddadin  
    Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators  
    IEEE Robotics and Automation Letters (RA-L) 2020 
    https://ieeexplore.ieee.org/document/9162464 

I.AM. has received funding from the European Union's Horizon 2020 Research and Innovation Programme (call: H2020-ICT-09-2019-2020, RIA) under Grant Agreement No. 871899