Kai Pfeiffer & Abderrahmane Kheddar 
Sequential hierarchical least-squares programming for prioritized non-linear optimal control 
Optimization Methods and Software, 2024
https://doi.org/10.1080/10556788.2024.2307467

Ahmed Zermane, Niels Dehio, Abderrahmane Kheddar
Planning Impact-Driven Logistic Tasks
IEEE Robotics and Automation Letters, 2024
https://doi.org/10.1109/LRA.2024.3354614

Camilo Rey, Wouter Weekers, Marco Morganti, Vincent Padois, Alessandro Saccon 
Refined Post-Impact Velocity Prediction for Torque-Controlled Flexible-Joint Robots 
IEEE Robotics and Automation Letters, 2024
https://doi.org/10.1109/LRA.2024.3364469

M. Djeha, P. Gergondet, A. Kheddar 
Robust task-space quadratic programming for kinematic-controlled robots 
IEEE Transactions on Robotics, 2023
https://doi.org/10.1109/TRO.2023.3286069

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://ieeexplore.ieee.org/document/9981409

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://ieeexplore.ieee.org/document/9982211

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)
https://ieeexplore.ieee.org/document/9981233

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)
https://ieeexplore.ieee.org/abstract/document/9981139

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)
https://ieeexplore.ieee.org/document/9981904

R.J. Kirschner, H. Mayer and L. Burr, N. Mansfeld, S. Abdolshah, S. Haddadin 
Expectable motion unit: Avoiding hazards from human involuntary motions in human-robot interaction 
2022 IEEE Robotics and Automation Letters
https://ieeexplore.ieee.org/document/9690007

P. Svarny, M. Hamad, A. Kurdas, M. Hoffmann, A. Saeed and S. Haddadin
Functional Mode Switching for Safe and Efficient Human-Robot Interaction 
2022 IEEE-RAS 21st International Conference on Humanoid Robots
https://ieeexplore.ieee.org/document/10000070

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 

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