Publications
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- Conference & Workshop paper
[C25] Jörn Vogel, Sami Haddadin, John D. Simeral, Sergej D. Stavisky, Dirk Bacher, Leigh R. Hochberg, John P. Donoghue, Patrick van der Smagt: Continuous Control of the DLR Light-weight Robot III by a human with tetraplegia using the BrainGate2 Neural Interface System, accepted at: International Symposium on Experimental Robotics (ISER2010), Dehli, India, 2010.
[C24] Sami Haddadin, Alin Albu-Schäffer, Oliver Eiberger, and Gerd Hirzinger: New Insights Concerning Intrinsic Joint Elasticity for Safety, accepted at: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taipeh, Taiwan, 2010.
[C23] Sami Haddadin, Holger Urbanek, Sven Parusel, Darius Burschka, Jürgen Roßmann, Alin Albu-Schäffer, and Gerd Hirzinger: Realtime Reactive Motion Generation Based on Variable Attractor Dynamics and Shaped Velocities, accepted at: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taipeh, Taiwan, 2010.
[C22] Sami Haddadin, Sven Parusel, Jörn Vogel, Rico Belder, Tim Rokahr, Alin Albu-Schäffer, and Gerd Hirzinger: Holistic design and analysis for the human-friendly robotic co-worker, accepted at: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taipeh, Taiwan, 2010. Invited paper
[C21] Stefan Fuchs, Sami Haddadin, Sven Parusel, Maik Keller, Andreas Kolb: Cooperative Bin-Picking with Time-of-Flight Camera and Impedance Controlled DLR Lightweight Robot III, accepted at: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taipeh, Taiwan, 2010.
[C20] Robert Burger, Sami Haddadin, Georg Planck, Sven Parusel, and Gerd Hirzinger: The driver concept for the DLR Lightweight Robot III, accepted at: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taipeh, Taiwan, 2010.
[C19] Rainer Bischoff, Johannes Kurth, Günter Schreiber, Ralf Koeppe, Alin Albu-Schäffer, Alexander Beyer, Oliver Eiberger, Sami Haddadin, Andreas Stemmer, Gerhard Grunwald, Gerhard Hirzinger: The KUKA-DLR Lightweight Robot arm – a new reference platform for robotics research and manufacturing, accepted at: International Symposium on Robotics (ISR2010), Munich, Germany, 2010.
[C18] Sami Haddadin, Alin Albu-Schäffer, and Gerd Hirzinger: Soft-tissue Injury in Robotics, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA2008), Anchorage, Alaska, 2010.
[C17] Oliver Eiberger, Sami Haddadin, Michael Weis, Alin Albu-Schäffer, and Gerd Hirzinger: On Joint Design with Intrinsic Variable Compliance: Derivation of the DLR QA-Joint, accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA2010), Anchorage, Alaska, 2010.
[C16] Alin Albu-Schäffer, Sebastian Wolf, Oliver Eiberger, Sami Haddadin, Florian Petit, and Maxime Chalon. Dynamic modeling and control of variable stiffness actuators. accepted at: IEEE Int. Conf. on Robotics and Automation (ICRA 2010), Anchorage, Alaska, 2010.
[C15] Alin Albu-Schäffer, Oliver Eiberger, Matthias Fuchs, Markus Grebenstein, Sami Haddadin, Christian Ott
, Andreas Stemmer
, Thomas Wimböck
, Sebastian Wolf
, and Gerd Hirzinger: Anthropomorphic Soft Robotics - from Torque Control to Variable Intrinsic Compliance, International Symposium on Robotics Research (ISRR2009), Lucerne, Switzerland, 2009, pdf, abstract
[C14] Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, and Gerd Hirzinger: Towards the Robotic Co-Worker, International Symposium on Robotics Research (ISRR2009), Lucerne, Switzerland, 2009
[C13] Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Jürgen Rossmann, and Gerd Hirzinger: The “DLR Crash Report”: Towards a Standard Crash-Testing Protocol for Robot Safety - Part I: Results, IEEE Int. Conf. on Robotics and Automation (ICRA 2009), Kobe, Japan, 2009, pp.272-279, Best Service Robotics Award, pdf, video, abstract
[C12] Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger, Jürgen Rossmann, and Gerd Hirzinger: The “DLR Crash Report”: Towards a Standard Crash-Testing Protocol for Robot Safety - Part II: Discussions, IEEE Int. Conf. on Robotics and Automation (ICRA 2009), Kobe, Japan, 2009, pp.280-287, Best Service Robotics Award, pdf, abstract
[C11] Sebastian Wolf , Alin Albu-Schäffer, Sami Haddadin, and Gerd Hirzinger: From Actively Compliant Lightweight Robots to Intrinsically Compliant Systems, First workshop for young researchers on Human-friendly robotics, Naples, Italy, 2008, pdf
[C10] Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca, and Gerd Hirzinger: Collision Detection & Reaction: A Contribution to Safe Physical Human-Robot Interaction, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2008), Nice, France, 2008, pp. 3356-3363, Best Application Paper Award, pdf, abstract
[C9] Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca and Gerd Hirzinger: Evaluation of Collision Detection and Reaction for a Human-Friendly Robot on Biological Tissues, 2008 IARP International Workshop on Technical challenges and for dependable robots in Human environments (IARP2008), Pasadena, USA, 2008, pdf, abstract
[C8] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part I: Unconstrained Blunt Impacts, IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, 2008, pp. 1331-1338, pdf, abstract
[C7] Sami Haddadin, Alin Albu-Schäffer, Mirko Frommberger and Gerd Hirzinger: The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part II: Constrained Blunt Impacts, IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, 2008, pp. 1339-1345, pdf, abstract
[C6] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safe Physical Human-Robot Interaction: Measurements, Analysis & New Insights, International Symposium on Robotics Research (ISRR2007), Hiroshima, Japan, 2007, pp. 439-450, pdf, abstract
[C5] Sami Haddadin, Tim Laue, Udo Frese and Gerd Hirzinger: Foul 2050: Thoughts on Physical Interaction in Human-Robot Soccer, International Conference on Intelligent Robots and Systems (IROS2007), San Diego, USA, 2007, pp. 3243-3250, pdf, abstract
[C4] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Approaching Asimov's 1st Law: The Role of the Robot's Weight Class, Robotics: Science and Systems Conference Workshop: Robot Manipulation: Sensing and adapting the real world (RSS2007), Atlanta, USA, 2007, pdf, abstract
[C3] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing, Robotics: Science and Systems Conference (RSS2007), Atlanta, USA, 2007, pdf, abstract
Online proceedings: http://www.roboticsproceedings.org/rss03/index.html
also published as part of the Book "Robotics: Science and Systems III" (see below)
[C2] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Dummy Crash-Tests for the Evaluation of Rigid Human-Robot Impacts, 2007 IARP International Workshop on Technical challenges and for dependable robots in Human environments (IARP2007), Rome, Italy, 2007, pdf, abstract
[C1] Alessandro De Luca, Alin Albu-Schäffer, Sami Haddadin and Gerd Hirzinger: Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm, International Conference on Intelligent Robots and Systems (IROS2006), Beijing, China, pp.1623-1630, 2006, pdf, abstract
[J6] Sami Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenmüller, Alin Albu-Schäffer, and Gerd Hirzinger: Konzepte für den Roboterassistenten der Zukunft, accepted at: Automatisierungstechnik (at), 2010, Invited paper
[J5] Sami Haddadin, Alin Albu-Schäffer, and Gerd Hirzinger: Safety Analysis for a Human-Friendly Manipulator, International Journal of Social Robotics: Special Issue on Towards Safety in Human Robot Interaction, Vol.2, 2010, pp.235-252.
[J4] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Requirements for Safe Robots: Measurements, Analysis & New Insights, International Journal on Robotics Research (IJRR2007), Invited paper: Special issue of ISRR2007, Vol. 28, No. 11–12, November/December 2009, pp. 1507–1527, ONLINE2, ONLINE1
This article was featured at MDLinx!
[J3] Sami Haddadin, Tim Laue, Udo Frese, Sebastian Wolf, Alin Albu-Schäffer, and Gerd Hirzinger: Kick it like a Safe Robot: Requirements for 2050, Robotics and Autonomous Systems (RAS): Special Issue on Humanoid Soccer Robots, vol. 57, issue 8, pp. 761-775, pdf, abstract
[J2] Alin Albu-Schäffer, Oliver Eiberger, Markus Grebenstein, Sami Haddadin, Christian Ott, Thomas Wimböck, Sebastian Wolf, and Gerd Hirzinger: Soft Robotics: From torque feedback controlled light-weight robots to intrinsically compliant systems, Robotics and Automation Magazine (RAM): Special Issue on Adaptable Compliance / Variable Stiffness for Robotic Applications, Vol. 15, No. 3, 2008, pp. 20-30, pdf, abstract
[J1] Alin Albu-Schäffer, Sami Haddadin, Christian Ott, Andreas Stemmer, Thomas Wimböck, and Gerd Hirzinger: The DLR Lightweight Robot – Lightweight Design and “Soft Robotics” Control Concepts for Robots in Human Environments, Industrial Robot Journal, Vol. 34, No. 5, 2007, pp. 376-385, Outstanding Paper Award, pdf, abstract
[B3] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safety Evaluation of Physical Human-Robot Interaction via Crash-Testing, Robotics: Science and Systems Conference (RSS2007), Atlanta, USA, 2007, pp. 217-224, Order here or here
[B2] Sami Haddadin, Carolin Holzhammer, Philipp Huy, Yipeng Liu, Andreas Schmid: Analysis on Future Context Broker Models and their Business Potential, Seamless Context-Aware Services in converged Mobile- and Enterprise-Networks, Center for Digitial Technology and Management, 2006
[B1] Sami Haddadin, Stefan Puchner, Yipeng Lui: Analysis on existing Architectures, Concepts, Projects or Even Products for Providing Location and other Types of Context Information, Seamless Context-Aware Services in converged Mobile- and Enterprise-Networks, Center for Digitial Technology and Management, 2006
[T18] Sami Haddadin: Next Generation Robots: From Robotic Co-Workers and Service Assistants to Human-Inspired Robot Design, Invited Talk, TUM Informatik Kolloquium, Garching, TUM
[T17] Sami Haddadin: Next Generation Robots: From Robotic Co-Workers to Intrinsic Compliance, Invited Talk, International Schunk Expert Days, Lauffen/Neckar, Germany
[T16] Sami Haddadin: Next Generation Robots: From Robotic Co-Workers to Intrinsic Compliance, Invited Talk, URAI International Workshop on Robot Integration, Gwangju, Korea
[T15] Sami Haddadin: Next Generation Robots: From Robotic Co-Workers to Intrinsic Compliance, Invited Talk, Intelligent Robotics Lab. Korea University, Seminar, Seoul, Korea
[T13] Sami Haddadin: Safety in physical Human-Robot Interaction, Invited Talk, DIN Normungssitzung, Stuttgart, Germany
[T12] Sami Haddadin: Towards Safe Robots: Approaching Asimov's 1st law, Invited Talk: Robotdalen Day , Västerås, Sweden
[T11] Sami Haddadin: Towards Safe Robots: Approaching Asimov's 1st law, Invited Talk: Swedish Workshop on Autonomous Robots, Västerås, Sweden
[T10] Sami Haddadin: Safe Human-Robot Interaction: Collision Analysis and Control Schemes, Invited Talk: Fraunhofer IFF Science Days, Magdeburg, Germany
[T9] Sami Haddadin: The DLR Robots: An Overview, KIMM Robotics Seminar, Taejeon, Korea
[T8] Sami Haddadin: Approaching Asimov's 1st Law: Safety in Physical Human-Robot Interaction, KIMM Robotics Seminar, Taejeon, Korea
[T7] Sami Haddadin: Approaching Asimov's 1st Law: Safety in Physical Human-Robot Interaction, Invited Talk: International Workshop for Robot Technology, Gwangju, Korea
[T6] Sami Haddadin: Approaching Asimov's 1st Law: Safety in Physical Human-Robot Interaction, KITECH Robotics Seminar, Gwangju, Korea
[T6] Sami Haddadin, Alin Albu-Schäffer, Alessandro De Luca, and Gerd Hirzinger: Evaluation of Collision Detection and Reaction for a Human-Friendly Robot on Biological Tissues, PRE-ICRA 2008 Mini-Symposium on Robot Technologies and Humanoids, Stanford University, AI/Robotics Lab, Stanford, USA, 2008, program
[T6] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safe Physical Human-Robot Interaction: Measurements, Analysis & New Insights. Colloquium: Joint Japanese-French Robotics Laboratory (JRL), Intelligent Systems Research Institute, National Institute of Advanced Science and Technology (AIST), Tsukuba, Japan, 2007
[T5] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safe Physical Human-Robot Interaction: Measurements, Analysis & New Insights. Colloquium: Nakamura & Yamane Laboratory, Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan, 2007
[T4] Sami Haddadin, Alin Albu-Schäffer und Gerd Hirzinger: Sichere Physikalische Mensch-Roboter Interaktion: Messungen, Analyse & Neue Einblicke. Colloquium: University of Bremen & DFKI, Bremen, Germany, 2007
[T3] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Sichere Mensch-Roboter Interaktion: Eine Evaluierung anhand von Crashtests. 40. Sitzung des FA 4.13 "Steuerung und Regelung von Robotern", Frankfurt, Germany, 2007 pdf
[T2] Sami Haddadin, Patrick van der Smagt: Overview of man-made actuators. Neurobotics Summer-School 2006, Umea, Sweden, 2006
[T1] Sami Haddadin: Impedance Control: Appllications at DLR. Impedance: from control to practice, Pontedera, Italy, 2006
[V3] Sami Haddadin, Alin Albu-Schäffer, Michael Strohmayr, Mirko Frommberger and Gerd Hirzinger: Injury Evaluation of Human-Robot Impacts, Video Proceedings IEEE Int. Conf. on Robotics and Automation (ICRA 2008), Pasadena, USA, 2008, pp. 2203-2204 , pdf, video, abstract
[V2] Christoph Borst, Christian Ott, Thomas Wimböck, Bernhard Brunner, Franziska Zacharias, Berthold Bäuml, Ulrich Hillenbrand, Sami Haddadin, Alin Albu-Schäffer, and Gerd Hirzinger: A humanoid upper-body system for two-handed manipulation. Video Proceedings IEEE International Conference on Robotics and Automation (ICRA2007), Rome, Italy, 2007, pp. 2766-2767, Best Video Award pdf, video, abstract
[V1] Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Approaching Asimov's 1st Law, Editor: Bartneck,C. and Kanada,T., HRI Caught on Film, Proceedings of the 2nd ACM/IEEE International Conference on Human-Robot Interaction (HRI2007), Washington DC, USA, 2007, pp.177-184, pdf, video, abstract
Sami Haddadin, Alin Albu-Schäffer and Gerd Hirzinger: Safety in Human-Robot Interaction, Robotics: Science and Systems Conference Workshop: Robot Manipulation: Intelligence in Human Environments (RSS2008), Zurich, Switzerland, 2008, pdf
DLR Lightweight Robots - Soft Robotics for Manipulation and Interaction with Humans, Robotics: Science and Systems Conference Workshop: Robot Manipulation: Intelligence in Human Environments (RSS2008), Zurich, Switzerland, 2008, pdf
Sami Haddadin: Towards the Human-friendly Robotic Co-Worker, Master’s Thesis, Institute of Robotics and Embedded Systems at Technische Universität München (TUM) and Institute of Robotics and Mechatronics at German Aerospace Center (DLR), Germany, 2009.
Sami Haddadin: Bewertungskriterien und Regelungsstrukturen für eine sichere Mensch-Roboter Interaktion, Diplomarbeit, Lehrstuhl für Steuerungs- und Regelungstechik and der Technischen Universität München (TUM), durchgeführt am Deutschen Zentrum für Luft-und Raumfahrt/Institut für Robotik und Mechatronik, Deutschland, 2006
Sami Haddadin: Farbinterpolation in der Bildverarbeitung, Bachelorarbeit, Lehrstuhl für Realzeitcomputersysteme an der Technischen Universität München (TUM), Deutschland, 2004