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2024
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2018
Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control
Accepted to 2024 IEEE International Conference on Robotics and Automation (ICRA).
Kübra Karacan
,
Robin Kirschner
,
Hamid Sadeghian
,
Fan Wu
,
Sami Haddadin
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Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints
Accepted to 2024 IEEE International Conference on Robotics and Automation (ICRA).
Kejia Chen
,
Zhenshan Bing
,
Yansong Wu
,
Fan Wu
,
Liding Zhang
,
Sami Haddadin
,
Alois Knoll
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Video
arXiv
1 kHz Behavior Tree for Self-adaptable Tactile Insertion
Accepted to 2024 IEEE International Conference on Robotics and Automation (ICRA).
Yansong Wu
,
Fan Wu
,
Lingyun Chen
,
Kejia Chen
,
Samuel Schneider
,
Lars Johannsmeier
,
Zhenshan Bing
,
Fares Abu-Dakka
,
Alois Knoll
,
Sami Haddadin
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Digital Robot Judge (DR.J): Building a Task-Centric Performance Database of Real-World Manipulation with Electronic Task Boards
IEEE Robotics and Automation Magazine
Peter So
,
Andriy Sarabakha
,
Fan Wu
,
Utku Culha
,
Fares Abu-Dakka
,
Sami Haddadin
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Project
Source Document
DOI
Competition Data
The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control
2023 IEEE International Conference on Decision and Control (CDC).
Kübra Karacan
,
Robin Kirschner
,
Fan Wu
,
Hamid Sadeghian
,
Sami Haddadin
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Project
Project
DOI
Individualized Training of Back Muscles Using Iterative Learning Control of a Compliant Balance Board
2023 International Conference on Rehabilitation Robotics (ICORR)
Elisabeth Jensen
,
Reihaneh Mirjalili
,
Kim Peper
,
Dennis Ossadnik
,
Fan Wu
,
Jan Lang
,
Matthias Martin
,
Florian Hetfleisch
,
Rainer Burgkart
,
Sami Haddadin
Cite
DOI
Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Kejia Chen
,
Zhenshan Bing
,
Fan Wu
,
Yuan Meng
,
André Kraft
,
Sami Haddadin
,
Alois Knoll
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Cite
Project
Video
DOI
Self-Organization and Collaboration in Robotic Manufacturing Systems
2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)
Andreas Frotzscher
,
Xiao Chen
,
Duy Lam Tran
,
Thore Goll
,
Hamid Sadeghian
,
Fan Wu
,
Martin Dehmel
,
Tommy Wohlfahrt
,
Matthias Riedl
,
Sami Haddadin
Cite
Project
DOI
Tactile Exploration Using Unified Force-Impedance Control
2023 IFAC Word Congress on Automatic Control
Kübra Karacan
,
Divij Grover
,
Hamid Sadeghian
,
Fan Wu
,
Sami Haddadin
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Project
Project
DOI
Learning optimal controllers: A dynamical motion primitive approach
22nd IFAC World Congress, 2023
Hugo T.M. Kussaba
,
Abdalla Swikir
,
Fan Wu
,
Sami Haddadin
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Project
DOI
Learning dynamic robot-to-robot object handover
22nd IFAC World Congress, 2023
Yansong Wu
,
Lingyun Chen
,
Ignacio Perez Mahiques
,
Zhenshan Bing
,
Fan Wu
,
Alois Knoll
,
Sami Haddadin
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Cite
Project
Video
DOI
Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach for Informed Sampling-Based Planner
Liding Zhang
,
Zhenshan Bing
,
Kejia Chen
,
Lingyun Chen
,
Fan Wu
,
Peter Krumbholz
,
Zhilin Yuan
,
Sami Haddadin
,
Alois Knoll
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Project
arXiv
On the Communication Channel in Bilateral Teleoperation: An Experimental Study for Ethernet, WiFi, LTE and 5G
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Xiao Chen
,
Lars Johannsmeier
,
Hamid Sadeghian
,
Erfan Shahriari
,
Martin Danneberg
,
Anselm Nicklas
,
Fan Wu
,
Gerhard Fettweis
,
Sami Haddadin
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Project
DOI
BSA - Bi-Stiffness Actuation for Optimally Exploiting Intrinsic Compliance and Inertial Coupling Effects in Elastic Joint Robots
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Dennis Ossadnik
,
Mehmet C. Yildirim
,
Fan Wu
,
Abdalla Swikir
,
Hugo T. M. Kussaba
,
Saeed Abdolshah
,
Sami Haddadin
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Project
DOI
Energy Regenerative Damping in Variable Impedance Actuators for Long-Term Robotic Deployment
IEEE Transactions on Robotics
Fan Wu
,
Matthew Howard
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Project
Video
DOI
Exploiting Variable Impedance for Energy Efficient Sequential Movements
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of …
Fan Wu
,
Matthew Howard
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Project
arXiv
Energy Harvesting and Energy Efficient Control for Variable Impedance Actuators
Thesis
Fan Wu
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Project
A Framework for Teaching Impedance Behaviours by Combining Human and Robot `Best Practice'
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Yuchen Zhao
,
Aran Sena
,
Fan Wu
,
Matthew J. Howard
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Video
DOI
Embroidered Electrodes for Control of Affordable Myoelectric Prostheses
2018 IEEE International Conference on Robotics and Automation (ICRA)
Samuel Pitou
,
Fan Wu
,
Ali Shafti
,
Brendan Michael
,
Riaan Stopforth
,
Matthew Howard
Cite
Video
DOI
A Hybrid Dynamic-Regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators
2018 IEEE International Conference on Robotics and Automation (ICRA)
Fan Wu
,
Matthew Howard
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Project
Video
DOI
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