Here the scientific publications (primarily journal and conference papers) can be found, that have been produced in the project.
Alexander A Oliva, Maarten J Jongeneel, Alessandro Saccon
A compact 6D suction cup model for robotic manipulation via symmetry reduction
IEEE Transactions on Robotics, 2025
https://doi.org/10.1109/TRO.2025.3551197
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
Abderrahmane Kheddar, Yan Gu, Michael Posa, Alessandro Saccon
Editorial Introduction to the IEEE T-RO Special Collection on Impact-Aware Robotics
IEEE Transactions on Robotics, 2024
https://doi.org/10.1109/TRO.2024.3486408
Jari Van Steen, Gijs van den Brandt, Nathan van de Wouw, Jens Kober, Alessandro Saccon
Quadratic programming-based reference spreading control for dual-arm robotic manipulation with planned simultaneous impacts
IEEE Transactions on Robotics, 2024
https://doi.org/10.1109/TRO.2024.3420800
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
Benn Proper, Alexander Kurdas, Saaed Abdolshah, Sami Haddadin, Alessandro Saccon
Aim-aware collision monitoring: Discriminating between expected and unexpected post-impact behaviors
IEEE Robotics and Automation Letter, 2023
https://doi.org/10.1109/LRA.2023.3284371
Jari J van Steen, Nathan van de Wouw, Alessandro Saccon
Robot control for simultaneous impact tasks through time-invariant reference spreading
2023 American Control Conference (ACC)
https://doi.org/10.23919/ACC55779.2023.10156028
Jari J van Steen, Abdullah Coşgun, Nathan van de Wouw, Alessandro Saccon
Dual arm impact-aware grasping through time-invariant reference spreading control
IFAC World Congress, 2023
https://doi.org/10.1016/j.ifacol.2023.10.1697
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