Journal Papers

S. Haddadin, A. Albu-Schäffer, G. Hirzinger, "Requirements for safe robots: Measurements, analysis and new insights", International Journal of Robotics Research, on-line (2009)


S. Haddadin, T. Laue, U. Frese, S. Wolf, A. Albu-Schäffer, G. Hirzinger, "Kick it with elasticity: Safety and performance in human?robot soccer", Robotics and Autonomous Systems, vol. 57, pp. 761-775 (July 2009)


L. Jaillet, T. Siméon, "Path deformation roadmaps: compact graphs with useful cycles for motion planning", International Journal of Robotics Research, vol. 27, pp. 1175-1188 (November 2008)


R. Filippini, S. Sen, A. Bicchi, "Toward soft robots you can depend on: A study of antagonistic actuation", IEEE Robotics and Automation Magazine, vol. 15, no. 3, pp. 31-41 (September 2008)


A. Albu-Schäffer, O. Eiberger, M. Grebenstein, S. Haddadin, C. Ott, T. Wimböck, S. Wolf, G. Hirzinger, "Soft robotics: From torque feedback controlled light-weight robots to intrinsically compliant systems", IEEE Robotics and Automation Magazine, vol. 15, no. 3, pp. 20-30 (September 2008)


J. Cortés, L. Jaillet, T. Siméon, "Disassembly path planning for complex articulated objects", IEEE Transactions on Robotics, vol. 24, pp. 475-481 (April 2008)


A. De Santis, B. Siciliano, A. De Luca, A. Bicchi, "An atlas of physical human–robot interaction", Mechanism and Machine Theory, vol. 43, pp. 253-270 (March 2008)


A. Albu-Schäffer, C. Ott, G. Hirzinger, "A unified passivity based control framework for position, torque and impedance control of flexible joint robots", International Journal of Robotics Research, vol. 26, pp. 23-39 (January 2007)


Book Chapters

A. De Santis, V. Lippiello, B. Siciliano, L. Villani, "Human-robot interaction control using force and vision", in C. Bonivento, A. Isidori, L. Marconi, C. Rossi (Eds.), Advances in Control Theory and Applications, Lecture Notes in Control and Information Sciences, Springer (November 2007)


R. Alami, K.M. Krishna, T. Siméon, "Provably safe motion strategies for mobile robots in dynamic domains", in C. Laugier, R. Chatila (Eds.), Autonomous Navigation in Dynamic Environment: Models and Algorithms, Springer Tracts in Advanced Robotics (July 2007)


Conference Papers

M. Gharbi, J. Cortés,T. Siméon, "Roadmap composition for multi-arm systems path planning", 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, Saint Louis, MO, USA (October 2009)


L. Freda, G. Oriolo, F. Vecchioli, "An exploration method for general robotic systems equipped with multiple sensors", 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, Saint Louis, MO, USA (October 2009)


A. De Luca, F. Flacco, R. Schiavi, A. Bicchi, "Nonlinear decoupled motion-stiffness control and collision detection/reaction for the VSA-II variable stiffness device", 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, Saint Louis, MO, USA (October 2009)


S. Haddadin, M. Suppa, S. Fuchs, A. Albu-Schäffer, G. Hirzinger, "Towards the robotic co-worker"", 14th International Symposium on Robotics Research, Luzern, Switzerland (August/September 2009)


A. Albu-Schäffer, O. Eiberger, M. Fuchs, M. Grebenstein, S. Haddadin, C. Ott, A. Stemmer, T. Wimböck, S. Wolf, C. Borst, G. Hirzinger, "Anthropomorphic soft robotics - From torque control to variable intrinsic compliance", 14th International Symposium on Robotics Research, Luzern, Switzerland (August/September 2009)


A. Albu-Schäffer, O. Eiberger, M. Fuchs, M. Grebenstein, S. Haddadin, C. Ott, A. Stemmer, T. Wimböck, S. Wolf, C. Borst, G. Hirzinger, "Anthropomorphic soft robotics - From torque control to variable intrinsic compliance", 14th International Symposium on Robotics Research, Luzern, Switzerland (August/September 2009)


D. Thanh Le, J. Cortés, Thierry Siméon, "A path planning approach to (dis)assembly sequencing", 2009 IEEE International Conference on Automation Science and Engineering, Bangalore, India (August 2009)


S. Martini, A. Fagiolini, G. Dini, A. Bicchi, "Safety and security in networked robotics systems via logical consensus", International Workshop on Networked Embedded and Control System Technologies: European and Russian R&D Cooperation, Milan, Italy (July 2009)


S. Haddadin, A. Albu-Schäffer, M. Frommberger, J. Rossmann, G. Hirzinger, "The "DLR crash report": Towards a standard crash-testing protocol for robot safety - Part II: Discussion", 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan (May 2009) — Winner of KUKA Service Robotics Paper Award


S. Haddadin, A. Albu-Schäffer, M. Frommberger, J. Rossmann, G. Hirzinger, "The "DLR crash report": Towards a standard crash-testing protocol for robot safety - Part I: Results", 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan (May 2009) — Winner of KUKA Service Robotics Paper Award


R. Schiavi, F. Flacco, A. Bicchi, "Integration of active and passive compliance control for safe human-robot coexistence", 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan (May 2009)


L. Le Tien, A. Albu-Schäffer, A. De Luca, G. Hirzinger, "Friction observer and compensation for control of robots with joint torque measurements", 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France (September 2008)


L. Jaillet, J. Cortés, T. Siméon, "Transition-based RRT for path planning in continuous cost spaces", 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France (September 2008)


S. Haddadin, A. Albu-Schäffer, A. De Luca, G. Hirzinger, "Collision detection and reaction: A contribution to safe physical human-robot interaction", 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France (September 2008) — Winner of ICROS Best Application Paper Award


L. Freda, G. Oriolo, F. Vecchioli, "Sensor-based exploration for general robotic systems", 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France (September 2008)


A. De Luca, L. Ferrajoli, "Exploiting robot redundancy in collision detection and reaction", 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France (September 2008)


A. De Santis, G. Di Gironimo, A. Marzano, B. Siciliano, A. Tarallo, "A virtual-reality-based evaluation environment for wheelchair-mounted manipulators", 6th Eurographics Italian Chapter Conference, Salerno, Italy (July 2008)


A. De Santis, B. Siciliano, "Safety issues for human-robot cooperation", Tools and Perspectives in Virtual Manufacturing, Napoli, Italy (July 2008)


M. Gharbi, J. Cortés, T. Siméon, "A sampling-based path planner for dual-arm manipulation", 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi'an, China (July 2008)


A. De Santis, B. Siciliano, "Inverse kinematics of robot manipulators with multiple moving control points", 11th International Symposium on Advances in Robot Kinematics, Batz-sur-Mer, France (June 2008)


A. De Santis, "Modelling and control for human-robot interaction: Physical and cognitive aspects", 2008 IEEE International Conference on Robotics and Automation, Workshop on Unifying Characteristics of Research in Human-Robot Interaction, Pasadena, CA, USA (May 2008)


S. Wolf, G. Hirzinger, "A new variable stiffness design: Matching requirements of the next robot generation", 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA (May 2008)


R. Schiavi, G. Grioli, S. Sen, A. Bicchi, "VSA-II: A novel prototype of variable stiffness actuator for safe and performing robots interacting with humans", 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA (May 2008) — Winner of KUKA Service Robotics Paper Award


G. Palli, C. Melchiorri, A. De Luca, "On the feedback linearization of robots with variable joint stiffness", 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA (May 2008)


S. Haddadin, A. Albu-Schäffer, G. Hirzinger, "The role of robot mass and velocity in physical human-robot interaction – Part II: Constrained blunt impacts", 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA (May 2008)


S. Haddadin, A. Albu-Schäffer, G. Hirzinger, "The role of robot mass and velocity in physical human-robot interaction – Part I: Unconstrained blunt impacts", 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA (May 2008)


S. Haddadin, A. Albu-Schäffer, A. De Luca, G. Hirzinger, "Evaluation of collision detection and reaction for a human-friendly robot on biological tissues", 6th IARP/IEEE-RAS/EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, Pasadena, CA, USA (May 2008)


J. Guiochet, D. Powell, E. Baudin, J.-P. Blanquart, "Online safety monitoring using safety modes", 6th IARP/IEEE-RAS/EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, Pasadena, CA, USA (May 2008)


A. De Santis, B. Siciliano, "Fast human-robot modelling and related dependability issues", 6th IARP/IEEE-RAS/EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, Pasadena, CA, USA (May 2008)


R. Coen Cagli, P. Napoletano, P. Coraggio, G. Boccignone, A. De Santis, "Sensorimotor coupling via dynamic Bayesan networks", 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA (May 2008)


A. Bicchi, M. Bavaro, G. Boccadamo, D. De Carli, R. Filippini, G. Grioli, M. Piccigallo, A. Rosi, R. Schiavi, S. Sen, G. Tonietti, "Physical human-robot interaction: Dependability, safety, and performance", 10th International Workshop on Advanced Motion Control, Trento, Italy (March 2008)


V. Lippiello, B. Siciliano, L. Villani, "A framework for force and visual control of robot manipulators", 13th International Symposium of Robotics Research, Hiroshima, Japan (November 2007)


S. Haddadin, T. Laue, U. Frese, G. Hirzinger, "Safe physical human-robot interaction: Measurements, analysis & new insights", 13th International Symposium of Robotics Research, Hiroshima, Japan (November 2007)


S. Haddadin, T. Laue, U. Frese, G. Hirzinger, "Foul 2050: Thoughts on physical interaction in human-robot soccer", 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA (Oct./Nov. 2007)


R. Iskakov, Alin Albu-Schäffer, M. Schedl, G. Hirzinger, V. Lopota, "Influence of sensor quantization on the control performance of robotics actuators", 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA (Oct./Nov. 2007)


B. Lussier, M. Gallien, J. Guiochet, F. Ingrand, M.-O. Killijian, D. Powell, "Planning with diversified models for fault-tolerant robots", International Conference on Automated Planning and Scheduling, Providence, RI, USA (September 2007)


A. De Santis, A. Albu-Schäffer, C. Ott, B. Siciliano, G. Hirzinger, "The skeleton algorithm for self-collision avoidance of a humanoid manipulator", 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Zürich, Switzerland (September 2007)


L. Zollo, B. Siciliano, A. De Luca, E. Guglielmelli, "PD control with on-line gravity compensation for robots with flexible links", European Control Conference 2007, Kos, Greece (July 2007)


V. Lippiello, B. Siciliano, L. Villani, "Robot force/position control with force and visual feedback", European Control Conference 2007, Kos, Greece (July 2007)


R. Alterovitz, T. Siméon, K. Goldberg, "The stochastic motion roadmap: A sampling framework for planning with Markov motion uncertainty", 2007 Robotics: Science and Systems Conference, Atlanta, GA, USA (June 2007)


S. Haddadin, A. Albu-Schäffer, G. Hirzinger, "Safety evaluation of physical human-robot interaction via crash-testing", 2007 Robotics: Science and Systems Conference, Atlanta, GA, USA (June 2007)


S. Haddadin, A. Albu-Schäffer, G. Hirzinger, "Approaching Asimov's 1st law: The role of the robot's weight class", 2007 Robotics: Science and Systems Conference, Atlanta, GA, USA (June 2007)


B. Lussier, M. Gallien, J. Guiochet, F. Ingrand, M.-O. Killijian, D. Powell, "Fault tolerant planning for critical robots", 37th Annual IEEE/IFIP International Conference on Dependable Systems and Networks, Edinburgh, UK (June 2007)


S. Haddadin, A. Albu-Schäffer, G. Hirzinger, "Dummy crash-tests for the evaluation of rigid human-robot impacts", IARP-IEEE/RAS-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, Roma, Italy (April 2007)


B. Lussier, M. Gallien, J. Guiochet, F. Ingrand, M.-O. Killijian, D. Powell, "Experiments with diversified models for fault-tolerant planning", IARP-IEEE/RAS-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, Roma, Italy (April 2007)


A. De Santis, B. Siciliano, "Reactive collision avoidance for safer human-robot interaction", IARP-IEEE/RAS-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, Roma, Italy (April 2007)


R. Filippini, S. Sen, A. Bicchi, "Variable impedance actuations for physical human cooperating robots: a comparative analysis of performance, safety and dependability", IARP-IEEE/RAS-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, Roma, Italy (April 2007)


R. Filippini, S. Sen, G. Tonietti, A. Bicchi, "A comparative dependability analysis of antagonistic actuation arrangements for enhanced safety", 2007 IEEE International Conference on Robotics and Automation, Roma, Italy (April 2007)


A. De Luca, D. Schröder, M. Thümmel, "An acceleration-based state observer for robot manipulators with elastic joints", 2007 IEEE International Conference on Robotics and Automation, Roma, Italy (April 2007)


V. Lippiello, B. Siciliano, L. Villani, "A position-based visual impedance control for robot manipulators", 2007 IEEE International Conference on Robotics and Automation, Roma, Italy (April 2007)


Posters

S. Haddadin, A. Albu-Schäffer, G. Hirzinger, "Safety in human-robot interaction", Workshop on Robot Manipulation: Intelligence in Human Environments, Robotics: Science and Systems 2008, Zurich, Switzerland (July 2008)


S. Wolf, G. Hirzinger, "A new variable stiffness design: The DLR VS-joint", Workshop on Design and Control of Variable Impedance Actuators for Physical Interaction of Robots with Humans and their Environment, Robotics: Science and Systems 2008, Zurich, Switzerland (July 2008)


Papers on Web

G. Hirzinger, A. Albu-Schäffer, "Light-weight robots", Scholarpedia, 3(4):3889 (April 2008)