Sami Haddadin
Technical University of Munich
収録論文 83本 ・ フィジカルAI/ロボット学習
モータ制御
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- 連続設計から遅延考慮の離散合成へ：PMSMドライブの高帯域ジョイント制御を保証する手法モータ制御2026/8/14
ロボット関節の電流制御を、通信・計算遅延を明示的に考慮した離散時間モデルで直接設計し、帯域幅と遅延の保証を実現する枠組みを提案。シミュレーションと実機で有効性を検証した。
- G-MAPP: GPU-accelerated Multi-Agent Planning and Perception for Reactive Motion Generation2026/6/1
- Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator2026/6/1
- Bridging the Sim-to-Real Gap with multipanda ros2: A Real-Time ROS2 Framework for Multimanual Systems2026/2/1
- Energy-Based Injury Protection Database: Including Shearing Contact Thresholds for Hand and Finger Using Porcine Surrogates2026/2/1
- Just in time Informed Trees: Manipulability-Aware Asymptotically Optimized Motion Planning2026/1/1
- Tele-rehabilitation with online skill transfer and adaptation in $\mathbb{R}^3 \times \mathit{S}^3$2025/10/1
- Learning a Shape-adaptive Assist-as-needed Rehabilitation Policy from Therapist-informed Input2025/10/1
- RCM Constraint-Consistent Dynamic Control in Surgical Robots2025/9/1
- Prompt2Auto: From Motion Prompt to Automated Control via Geometry-Invariant One-Shot Gaussian Process Learning2025/9/1
- Video-to-BT: Generating Reactive Behavior Trees from Human Demonstration Videos for Robotic Assembly2025/9/1
- Tree-Based Grafting Approach for Bidirectional Motion Planning with Local Subsets Optimization2025/8/1
- Estimated Informed Anytime Search for Sampling-Based Planning via Adaptive Sampler2025/8/1
- Elliptical K-Nearest Neighbors -- Path Optimization via Coulomb's Law and Invalid Vertices in C-space Obstacles2025/8/1
- APT*: Asymptotically Optimal Motion Planning via Adaptively Prolated Elliptical R-Nearest Neighbors2025/8/1
- Direction Informed Trees (DIT*): Optimal Path Planning via Direction Filter and Direction Cost Heuristic2025/8/1
- Scalable Learning of High-Dimensional Demonstrations with Composition of Linear Parameter Varying Dynamical Systems2025/7/1
- UniConFlow: A Unified Constrained Flow-Matching Framework for Certified Motion Planning2025/6/1
- Enhanced Robotic Navigation in Deformable Environments using Learning from Demonstration and Dynamic Modulation2025/6/1
- SafeFlow: Safe Robot Motion Planning with Flow Matching via Control Barrier Functions2025/4/1
- Reactive and Safety-Aware Path Replanning for Collaborative Applications2025/3/1
- GIFT: Geometry-Induced Functional Transfer for Category-level Object Manipulation2025/3/1
- Stretchable Capacitive and Resistive Strain Sensors: Accessible Manufacturing Using Direct Ink Writing2025/2/1
- Accelerating Discovery in Natural Science Laboratories with AI and Robotics: Perspectives and Challenges from the 2024 IEEE ICRA Workshop, Yokohama, Japan2025/1/1
- Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach2024/12/1
- On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach2024/10/1
- A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts2024/10/1
- Motion Planning for Robotics: A Review for Sampling-based Planners2024/10/1
- Behavior Tree Generation using Large Language Models for Sequential Manipulation Planning with Human Instructions and Feedback2024/9/1
- LLM-as-BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning2024/9/1
- Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics2024/9/1
- LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks2024/9/1
- TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation2024/9/1
- Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control2024/8/1
- Object Augmentation Algorithm: Computing virtual object motion and object induced interaction wrench from optical markers2024/8/1
- Optimizing Interaction Space: Enlarging the Capture Volume for Multiple Portable Motion Capture Devices2024/8/1
- Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand2024/8/1
- Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D2024/8/1
- Functional kinematic and kinetic requirements of the upper limb during activities of daily living: a recommendation on necessary joint capabilities for prosthetic arms2024/8/1
- Tactile-Morph Skills: Energy-Based Control Meets Data-Driven Learning2024/8/1
- Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger2024/8/1
- OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism2024/8/1
- Autonomous and Teleoperation Control of a Drawing Robot Avatar2024/7/1
- Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach2024/7/1
- SVan: A Mobile Hub as a Field Robotics Development and Deployment Platform2024/5/1
- Towards Safe Robot Use with Edged or Pointed Objects: A Surrogate Study Assembling a Human Hand Injury Protection Database2024/4/1
- Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions2024/3/1
- Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots2024/3/1
- Geometric Slosh-Free Tracking for Robotic Manipulators2024/2/1
- Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC2024/2/1
- Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk2024/1/1
- Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints2024/1/1
- ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk2024/1/1
- Anthropomorphic Grasping with Neural Object Shape Completion2023/11/1
- LoHoRavens: A Long-Horizon Language-Conditioned Benchmark for Robotic Tabletop Manipulation2023/10/1
- Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments2023/10/1
- Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning2023/10/1
- Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept2023/9/1
- Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles2023/9/1
- A Concise Overview of Safety Aspects in Human-Robot Interaction2023/9/1
- Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures2023/7/1
- Towards Language-Based Modulation of Assistive Robots through Multimodal Models2023/6/1
- Learning optimal controllers: a dynamical motion primitive approach2023/6/1
- Fast yet predictable braking manoeuvers for real-time robot control2023/6/1
- Towards Flexible Biolaboratory Automation: Container Taxonomy-Based, 3D-Printed Gripper Fingers2023/2/1
- BSA -- Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots2022/12/1
- Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators2022/12/1
- A Solution to Slosh-free Robot Trajectory Optimization2022/10/1
- Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence2022/10/1
- Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics2022/10/1
- LATTE: LAnguage Trajectory TransformEr2022/8/1
- Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP2022/8/1
- Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees2022/3/1
- ISO/TS 15066: How Different Interpretations Affect Risk Assessment2022/3/1
- Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers2022/3/1
- Towards Remote Robotic Competitions: An Internet-Connected Task Board and Dashboard2022/1/1
- Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space2021/10/1
- Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction2021/9/1
- SyReNets: Symbolic Residual Neural Networks2021/5/1
- Learning Vision-based Reactive Policies for Obstacle Avoidance2020/10/1
- How to Make Deep RL Work in Practice2020/10/1
- Simultaneous Contact and Aerodynamic Force Estimation (s-CAFE) for Aerial Robots2018/10/1
- A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control2018/5/1