Publications

Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control
Accepted to IROS 2024
Kübra Karacan, Anran Zhang, Hamid Sadeghian, Fan Wu, Sami Haddadin
Cite Project Project
Ontology Based AI Planning and Scheduling for Robotic Assembly
Accepted to IROS 2024
Jingyun Zhao, Birgit Vogel-Heuser, Jicong Ao, Yansong Wu, Liding Zhang, Fandi Bi, Dominik Hujo, Zhenshan Bing, Fan Wu, Alois Knoll, Sami Haddadin, Bernd Vojanec, Timo Markert, André Kraft
Cite Project
Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning
Accepted to IROS 2024
Liding Zhang, Zhenshan Bing, Kejia Chen, Lingyun Chen, Kuanqi Cai, Yu Zhang, Fan Wu, Peter Krumbholz, Zhilin Yuan, Sami Haddadin, Alois Knoll
Cite Project arXiv
Elliptical K-Nearest Neighbors - Path Optimization via Coulomb's Law and Invalid Vertices in C-Space Obstacles
Accepted to IROS 2024
Liding Zhang, Zhenshan Bing, Yu Zhang, Kuanqi Cai, Lingyun Chen, Fan Wu, Sami Haddadin, Alois Knoll
Cite Project
A Scalable Platform for Robot Learning and Physical Skill Data Collection
Accepted to IROS 2024
Samuel Schneider, Yansong Wu, Lars Johannsmeier, Fan Wu, Sami Haddadin
Cite Project
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation
Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Alois Knoll, Sami Haddadin
Cite Project
Learning Task Planning from Multi-Modal Demonstration for Multi-Stage Contact-Rich Manipulation
Kejia Chen, Zheng Shen, Yue Zhang, Lingyun Chen, Fan Wu, Zhenshan Bing, Sami Haddadin, Alois Knoll
Cite Project arXiv Project Page
Tactile-Morph Skills: Energy-Based Control Meets Data-Driven Learning
Anran Zhang, Kübra Karacan, Hamid Sadeghian, Yansong Wu, Fan Wu, Sami Haddadin
Cite Project Project
LLM as BT-Planner: Leveraging LLMs for Behavior Tree Generation in Robot Task Planning
Robotic assembly tasks are open challenges due to the long task horizon and complex part relations. Behavior trees (BTs) are …
Jicong Ao, Fan Wu, Yansong Wu, Abdalla Swikir, Sami Haddadin
Cite Code Project arXiv
Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control
2024 IEEE International Conference on Robotics and Automation (ICRA)
Kübra Karacan, Robin Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
PDF Cite Project Project
Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control
Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints
2024 IEEE International Conference on Robotics and Automation (ICRA).
Kejia Chen, Zhenshan Bing, Yansong Wu, Fan Wu, Liding Zhang, Sami Haddadin, Alois Knoll
PDF Cite Project Video arXiv
Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints
Behavior Tree Generation using Large Language Models for Sequential Manipulation Planning with Human Instructions and Feedback
ICRA 2024 Workshop Exploring Role Allocation in Human-Robot Co-Manipulation
Jicong Ao, Yansong Wu, Fan Wu, Sami Haddadin
PDF Cite Code Project
1 kHz Behavior Tree for Self-adaptable Tactile Insertion
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
PDF Cite Project
1 kHz Behavior Tree for Self-adaptable Tactile Insertion
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
Cite Project Source Document DOI Competition Data
Digital Robot Judge (DR.J): Building a Task-Centric Performance Database of Real-World Manipulation with Electronic Task Boards
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
PDF Cite Project Project DOI
The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control
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
Individualized Training of Back Muscles Using Iterative Learning Control of a Compliant Balance Board
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
PDF Cite Project Video DOI
Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures
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
Self-Organization and Collaboration in Robotic Manufacturing Systems
Tactile Exploration Using Unified Force-Impedance Control
2023 IFAC Word Congress on Automatic Control
Kübra Karacan, Divij Grover, Hamid Sadeghian, Fan Wu, Sami Haddadin
PDF Cite Project Project DOI
Tactile Exploration Using Unified Force-Impedance Control
Learning optimal controllers: A dynamical motion primitive approach
22nd IFAC World Congress, 2023
Hugo T.M. Kussaba, Abdalla Swikir, Fan Wu, Sami Haddadin
PDF Cite 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
PDF Cite Project Video DOI
Learning dynamic robot-to-robot object handover
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
Cite 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
PDF Cite Project DOI
Energy Regenerative Damping in Variable Impedance Actuators for Long-Term Robotic Deployment
IEEE Transactions on Robotics
Fan Wu, Matthew Howard
PDF Cite Project Video DOI
Energy Regenerative Damping in Variable Impedance Actuators for Long-Term Robotic Deployment
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
Cite Project arXiv
Energy Harvesting and Energy Efficient Control for Variable Impedance Actuators
Thesis
Fan Wu
Cite 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
PDF Cite Video DOI
A Framework for Teaching Impedance Behaviours by Combining Human and Robot `Best Practice'
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
Embroidered Electrodes for Control of Affordable Myoelectric Prostheses
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
PDF Cite Project Video DOI
A Hybrid Dynamic-Regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators