Papers

Journal Papers [2012][2011] [2010] [2009]
Conference Proceedings/Poster [2012][2011] [2010] [2009]

 

Journal Papers

2012

R. Carloni, L.C. Visser and S. Stramigioli, Variable Stiffness Actuators: a Port-based Power Flow Analysis IEEE Transactions on Robotics, vol. 28, n. 1. DOI: 10.1109/TRO.2011.2168709, 2012.

2011

P. Beyl, K. Knaepen, S. Duerinck, M. Van Damme, B. Vanderborght, D. Lefeber, Safe and compliant guidance by a powered knee exoskeleton for robot-assisted rehabilitation of gait, Advanced Robotics, from Special Issue on Physical Human-Robot Interaction Through Force Interfaces, issue 5, vol.25, pp.513 - 535, eds. RSJ, published by Brill (Leiden, NL), 2011.

P. Beyl, M. Van Damme, R. Van Ham, B. Vanderborght and D. Lefeber Pleated pneumatic artificial muscle based actuator system as a torque source for compliant lower limb exoskeletons, Robotica, Accepted.

M. Biso, A. Ansaldo Don N. Futaba, K. Hata and D. Ricci Cross-Linking Super-Growth Carbon Nanotubes: Boosting Bucky Gel Actuator Performance, Carbon (2011), vol. 49, issue 7 pages 2253-2257doi:10.1016/j.carbon.2011.01.057

D Campolo, F Widjaja, M Esmaeili, E Burdet Pointing with the wrist: a postural model for Donders' law. Experimental Brain Research 212(3): 417-27.

F. Carpi, R. Kornbluh, P. Sommer-Larsen, G. Alici, Electroactive polymer actuators as artificial muscles: are they ready for bioinspired applications? Bioinspiration & Biomimetics In press.

F. Carpi, G. Frediani, M. Nanni and D. De Rossi, Granularly coupled dielectric elastomer actuators IEEE-ASME Transactions On Mechatronics , Vo. 16(1), pp. 16-23, 2011.

L. Ceseracciu, M. Biso, A. Ansaldo, D.N. Futaba, K. Hata, A.C. Barone, D. Ricci Mechanics and actuation properties of bucky gel-based electroactive polymers Sensors and Actuators B: Chemical, 156 (2011) 949-953

K. Goris, J. Saldien, B. Vanderborght, D. Lefeber. How to Achieve the Huggable Behavior of the Social Robot Probo, International Journal on Humanoid Robotics, accepted

K. Goris, J. Saldien, B. Vanderborght, D. Lefeber. How to Achieve the Huggable Behavior of the Social Robot Probo, Mechatronics, issue 3, vol.21, pp.490 - 500, 2011 http://dx.doi.org/10.1016/j.mechatronics.2011.01.001

A. Jafari, N.G.Tsagarakis and D. G. Caldwell. A Novel Intrinsically Energy Efficient Development of a Novel Actuator with Adjustable Stiffness (AwAS). IEEE Transactions Mechatronics, conditionally accepted

A Kadiallah, G Liaw, M Kawato, DW Franklin and E Burdet Impedance control is selectively tuned to multiple directions of movement Journal of Neurophysiology in pressù

S. Haddadin, A. Albu-Schäffer, F. Haddadin, J. Rossmann, G. Hirzinger, Experimental Safety Study on Soft-tissue Injury in Robotics. Part I: Theory, Materials, Methods and Simulation Experiments, IEEE Robotics & Automation Magazine, accepted

S. Haddadin, A. Albu-Schäffer, F. Haddadin, J. Rossmann, G. Hirzinger, Experimental Safety Study on Soft-tissue Injury in Robotics. Part II: Experiments with soft materials, IEEE Robotics & Automation Magazine, accepted

M. Laffranchi, N. G. Tsagarakis, and D. G.Caldwell, Introducing Variable Physical Damping in Compliant Robotic Joints: the VPDA Actuation System IEEE Transactions on Mechatronics, Conditionally Accepted

B Vanderborght, N.G. Tsagarakis, R Van Ham, I. Thorson, D.G. Caldwell, MACCEPA 2.0: Compliant Actuator used for Energy Efficient Hopping Robot Chobino1D Autonomous Robot, Autonomous Robots, issue 1, vol.31, pp.55 - 65, 2011 http://www.springerlink.com/content/g8n97426522u2277/

D. Villegas, B. Vanderborght, M. Van Damme, P. Beyl, D. Lefeber Third Generation Pleated Pneumatic Artificial Muscles for Robotic Applications: Development and Comparison with the McKibben Muscle, Advanced Robotics, conditionally accepted

L.C. Visser, R. Carloni, S, Stramigioli, Energy Efficient Variable Stiffness Actuators IEEE Transactions on Robotics, vol. 27, n. 5., pp. 865 - 875 , DOI: 10.1109/TRO.2011.2150430, 2011.

J. Ueda, E. Burdet, J-L Gennisson, M. Kaneko, A. Mihailidis (Guest Editorial) Focused Section on Sensing Technologies for Biomechatronics IEEE/ASME Transactions on Mechatronics, in press

C. Yang, G.Ganesh, S. Haddadin, S. Parusel, A. Albu-Schäffer, E. Burdet Human Like Adaptation of Force and Impedance in Stable and Unstable, IEEE Transactions on Robotics (T-RO), Vol. 27, n. 5 pp: 918 - 930, DOI: 10.1109/TRO.2011.2158251

2010

T. Arichi, A. Moraux, A. Melendez, V. Doria, M. Groppo, N. Merchant, S. Combs, E. Burdet, D. J. Larkman, SJ Counsell, CF Beckmann, AD Edwards, Somatosensory cortical activation identied by functional MRI in preterm and term infants, Neuroimage 49(3): 2063-71. 2010

M. Biso, A. Ansaldo Don N. Futaba, K. Hata and D. Ricci Benchmarking bucky gel actuators: chemically modified commercial carbon nanotubes versus super-growth carbon nanotubes, physica status solidi b, 247 (11-12), 2010; 3055-3058

M. Biso, A. Ansaldo and D. Ricci Performance improvement in bucky gel actuators by chemical modifications of carbon nanotubes physica status solidi, (RRL) - Rapid Research Letters 4, No. 3-4, 2010; 64-66

F. Carpi, G. Frediani, S. Tarantino, and D. De Rossi, Millimeter-scale bubble-like dielectric elastomer actuators, Polymer International In press, Vol. 59(3), pp. 407-414, 2010

F. Carpi, S. Raspopovic, G. Frediani and D. De Rossi, Real-time open-loop control of dielectric elastomer actuators via bioelectric and biomechanical signals Polymer International, Vol. 59(3), pp. 422-429, 2010.

G. Gallone, F. Galantini and F. Carpi, Perspectives for new dielectric elastomers with improved electro-mechanical actuation performance: composites vs. blends Polymer International, Vol. 59(3), pp. 400-406, 2010.

G. Ganesh, H. Haruno, M. Kawato, Motor memory and local minimization of error and effort, not global optimization, determine motor behavior, Journal of neurophysiology, 2010

S. Haddadin, A. Albu-Schaeffer, and G. Hirzinger: Safety Analysis for a Human-Friendly Manipulator International Journal of Social Robotics: Special Issue on Towards Safety in Human Robot Interaction, 2010.

K. P. Tee, D. W. Franklin, T. Milner, M. Kawato and E. Burdet, Concurrent Adaptation of force and impedance in the redundant muscle system, Biological Cybernetics 102: 31-44, 2010 [PDF]

M. Van Damme, P. Beyl, B. Vanderborght, R. Versluys, R. Van Ham, I. Vanderniepen, F. Daerden, D. Lefeber, The Safety of a Robot Actuated by Pneumatic Muscles - A Case Study International Journal of Social Robotics, DOI: 10.1007/s12369-009-0042-2, [PDF]

T. Wimböck, Ch. Borst, A. Albu-Schäffer, Ch. Ott, F. Schmidt, M. Fuchs, W. Friedl, O. Eiberger, A. Baumann, A. Beyer, G. Hirzinger. DLRs zweihändiger Humanoide Justin: Systementwurf, Integration und Regelung, At-Automatisierungstechnik, Oldenbourg Wissenschaftsverlag, 2010

2009

M Biso, and D Ricci, Multi-walled carbon nanotubes plastic actuator, Phys. Status Solidi B, 1 - 4, 2009 [PDF]

C. Castellini and P. van der Smagt, Surface EMG in Advanced Hand Prosthetics Biological Cybernetics. 100 (1), 35--47, 2009

A. E. Fiorilla, N. G.Tsagarakis, F. Nori and G. Sandini, Design of a 2-Finger Hand Exoskeleton for Finger stiffness measurements, Journal of Applied Bionics and Biomechanics:Special Issue on "Upper and Lower Limb Exoskeletons, 2009 (accepted) [PDF]

M. Görner, T. Wimböck, G. Hirzinger The DLR Crawler: evaluation of gaits and control of an actively compliant six-legged walking robot, Industrial Robot: An International Journal, Vol. 36, No. 4., pp. 344-351, 2009

S. Haddadin, T. Laue, U. Frese, S. Wolf, A. Albu-Schaeffer, and G. 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]

S. Haddadin, A. Albu-Schaeffer and G. Hirzinger, Requirements for Safe Robots: Measurements, Analysis & New Insights, International Journal on Robotics Research (IJRR2007) (accepted)

S Haller, D Chapuis, R Gassert, E Burdet, M Klarhoefer (2009), Supplementary motor area and anterior intraparietal area integrate ne-graded timing and force control during precision grip, European Journal of Neuroscience 30(12): 2401-06(6)

M. Laffranchi, N. G.Tsagarakis and D. G. Caldwell, Enhancing Interaction Safety via Intrinsically Compliant Robot Design and Energy Regulation Control, International Journal of Robotics Research, 2009

L. Masia, M. Casadio , P. Giannoni, G. Sandini and P. Morasso, Performance Adaptive Training Control Strategy for recovering wrist movements in stroke patients: a preliminary, feasibility study Journal of Neuroengieering and Rehabilitation 2009, 6:44doi:10.1186/1743-0003-6-44 [PDF]

O'Sullivan, E Burdet, Diedrichs, Dissociating variability and effort as determinants of coordination Plos, Computational Biology5(4): e1000345, 2009

P. van der Smagt and M. Grebenstein and H. Urbanek and N. Fligge and M. Strohmayr and G.Stillfried and J. Parrish and A. Gustus, Robotics of Human Movement, Journal of Neurophysiology, Paris. 103 (3-5), 119- 132, 2009

Conference Papers and Posters

2012

M. Fumagalli, E. Barrett, S. Stramigioli, and R. Carloni, The mVSA-UT: a Miniaturized Differential Mechanism for a Continuous Rotational Variable Stiffness Actuator ICRA 2012, submitted

S.S. Groothuis, G. Rusticelli, A. Zucchelli, S. Stramigioli, and R. Carloni, The vsaUT-II: a Novel Rotational Variable Stiffness Actuator ICRA 2012, submitted

R. Unal, R. Carloni, S.M. Behrens, E.E.G. Hekman, H.F.J.M. Koopman and S. Stramigioli Towards a Fully Passive Transfemoral Prosthesis for Normal Walking ICRA 2012, submitted

G. van Oort and S. Stramigioli, The Poincare’ section and basin of attraction of a 2D passive dynamic walker on an irregular floor ICRA 2012, submitted

L.C. Visser, S. Stramigioli, and R. Carloni, Robust Bipedal Walking with Variable Stiffness Actuation ICRA 2012, submitted

2011

A. Ansaldo, M. Biso, L.Ceseracciu, D. N. Futaba, K. Hata, A.C. Barone, D.Ricci Boosting Bucky Gel Actuators: Cross-Linked CNTs and Linear Motion NT '11: International Conference on the Science and Application of Nanotubes, Cambridge United Kingdom, 11-16th July 2011

S.M. Behrens, R. Unal, E.E.G. Hekman, R. Carloni, S. Stramigioli, and H.F.J.M. Koopman Design of a Fully-Passive Transfemoral Prosthesis Prototype. IEEE/EMBS International Conference of Engineering in Medicine and Biology Society

P. Beyl, B. Vanderborght , V. Grosu, M. Van Damme, R. Van Ham, D. Lefeber KNEXO: a Knee Exoskeleton to test design and control concepts for gait rehabilitation. New and Emerging Technologies in Assistive Robotics Workshop at IEEE/RSJ IROS 2011, Sep. 26 2011, pp.1 - 2, 2011 http://www.iros2011.org/WorkshopsAndTutorialsProceedings/MW3/iros11ws_assistive_robotics.pdf

P. Beyl, V. Grosu, M. Van Damme, R. Van Ham, B. Vanderborght, D. Lefeber KNEXO: a Knee Exoskeleton to Study Design and Control Concepts for Walking Dynamic Walking International Conference, July 18-21, 2011, Friedrich-Schiller University of Jena, Germany, 2011 www.dynamicwalking.uni-jena.de/

M. Biso, A. Ansaldo, V. Vintera, D. Ricci, Linear and bending actuation of bucky gel Electroactive Polymer Actuators and Devices (EAPAD) XIII San Diego USA, 6-10 March 2011

M. Biso, A. Ansaldo D. N. Futaba, K. Hata and D. Ricci Linear and Bimorph Bucky Gel Actuators from Cross-Linked Super-Growth Carbon Nanotubes XXVth International winterschool on electronic properties of novel materials, February 26 March 5, 2011 Kirchberg/Tirol - Austria

M. Biso, A. Ansaldo D. N. Futaba, K. Hata and D.Ricci Linear and bimorph bucky gel actuators with improved performance thanks to cross-linked super-growth carbon nanotubes International conference on Electromechanically Active Polymer (EAP) transducers and artificial muscles, Pisa Italy, 8-9 June 2011

M. G. Catalano, G. Grioli, M. Garabini, F. Bonomo and A. Bicchi VSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems International Conference of Robotics and Automation - ICRA 2011, pp. 5090 - 5095

F. Carpi, G. Frediani, C. A. Gerboni, J. Gemignani, D. De Rossi, Towards variable-stiffness dynamic hand splints based on dielectric elastomer transducers, Proc. of EuroEAP 2011 - First International conference on Electromechanically Active Polymer (EAP) transducers & artificial muscles, Pisa, 8-9 June 2011, Online database; No issue.

F. Carpi, G. Frediani, A. Sommovigo, D. De Rossi, Refreshable Braille cells based on dielectic elastomer actuators Proc. of EuroEAP 2011 - First International conference on Electromechanically Active Polymer (EAP) transducers & artificial muscles, Pisa, 8-9 June 2011. Online database; No issue.

F. Carpi, G. Frediani, M. Nanni and D. De Rossi, Dielectric elastomer actuators with granular coupling Smart Structures and Materials 2011: Electroactive Polymer Actuators and Devices, Y. Bar-Cohen Editor, Proc. of SPIE, Vol. 7976

F. Carpi, G. Frediani and D. De Rossi, Opportunities of hydrostatically coupled dielectric elastomer actuators for haptic interfaces Smart Structures and Materials 2011: Electroactive Polymer Actuators and Devices, Y. Bar-Cohen Editor, Proc. of SPIE, Vol. 7976

F. Carpi, G. Frediani and D. De Rossi, Hydrostatically coupled dielectric elastomer actuators: new opportunities for haptics Materials Research Society Symposium Proc., Vol. 1312

M. Chalon, W.Friedl, J. Reinecke, T. Wimboeck, A. Albu-Schaeffer Impedance control of a non-linearly coupled tendon driven thumb IEEE IROS, 25-30 Sept. 2011, S. Francisco, USA, pp. 4215 - 4221

A.Chilian, H. Hirschmüller and M. Görner: Multisensor Data Fusion for Robust Pose Estimation of a Six-Legged Walking Robot IEEE IROS, 25-30 Sept. 2011, S. Francisco, USA, pp. 2497 - 2504

T. Ende, S. Haddadin, S. Parusel, T. Wuesthoff, and A. Albu-Schaeffer: Exploiting potential energy storage for cyclic manipulation: A Human-Centered Approach to Robot Gesture Based Communication within Collaborative Working Processes IEEE IROS, pp. 1789 - 1796

W. Friedl, H. Höppner, F. Petit and G.Hirzinger: Wrist and Forearm Rotation of the DLR Hand Arm System: Mechanical Design, Shape Analysis and Experimental Validation, IEEE IROS, pp. 1836 - 1842

W. Friedl, M. Chalon, J. Reinecke and M.Grebenstein: FAS A flexible Antagonistic spring element for a high performance over actuated hand IEEE IROS 2011, pp. 1366 - 1372

F. Galantini, G. Gallone, F. Carpi, Improving performance of dielectric elastomer actuators via corona charging Proc. of EuroEAP 2011 - First International conference on Electromechanically Active Polymer (EAP) transducers & artificial muscles, Pisa, 8-9 June 2011 Online database; No issue.

M. Garabini, A. Passaglia, F. A. W. Belo, P. Salaris, and A. Bicchi. Optimality Principles in Variable Stiffness Control: the VSA Hammer. In 2011 IEEE/RSJ International Conference on Intelligent RObots and Systems, S. Francisco, USA, September 25 - 30 2011

M. Grebenstein and A.Albu-Schaeffer, T. Bahls, M. Chalon, O. Eiberger, W.Friedl, R. Gruber, S.Haddadin, U.Hagn, R. Haslinger, H. Hoeppner, S. Joerg, M. Nickl, A.Nothhelfer, F. Petit, J.Reill, N. Seitz, T. Wimboeck, S. Wolf, T. Wuesthoff, and G.Hirzinger: The DLR Hand Arm System IEEE Int. Conf. on Robotics and Automation (ICRA 2011), pp. 3175 - 3182 [PDF]

G. Grioli and A. Bicchi A Real-time Parametric Stiffness Observer for VSA devices International Conference of Robotics and Automation - ICRA 2011, pp. 5535 - 5540

S.S. Groothuis, G. Rusticelli, A. Zucchelli, S. Stramigioli, and R. Carloni, The vsaUT-II: a Novel Rotational Variable Stiffness Actuator Symposium on Compliant Mechanisms Abstract with no review + poster presentation

S.Haddadin, M. Weis, S. Wolf Optimal Control for maximizing Link Velocity of Robotic Variable Stiffness Joints IFAC 2011, pp. 6863 - 6871 [PDF]

S. Haddadin, S. Parusel, R. Belder, A. Albu-Schaeffer, and G. Hirzinger Safe Acting and Manipulation in Human Environments: A Key Concept for Robots in our Society IEEE ARSO, A Worshop on Advanced Robotics and its Social Impacts, 2011, Half-Moon Bay, USA [PDF] - invited poster presentation

S. Haddadin, K. Krieger, and A. Albu-Schaeffer: Exploiting Elastic Energy Storage for Cyclic Manipulation: Modeling, Stability, and Observations for Dribbling, IEEE CDC 2011 Accepted

S. Haddadin, K. Krieger, M. Kunze, and A.Albu-Schaeffer: Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot IEEE IROS, pp. 1789 - 1796 [PDF]

S. Haddadin, R. Belder, and A. Albu-Schaeffer: Dynamic Motion Planning for Robots in Partially Unknown Environments IFAC 2011, Milan, Italy, pp. 6842 - 6850 [PDF]

A. Jafari, N.G.Tsagarakis, and D.G.Caldwell. AwAS-II: A Novel Actuator with Adjustable Stiffness Based on Variable Ratio Lever Concept IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai.

A. Jafari, N.G.Tsagarakis, and D.G.Caldwell. Exploiting Natural Dynamics for Energy Minimization using an Actuator with Adjustable Stiffness IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai.

M. Jafarian, G. van Oort, R. Carloni and S. Stramigioli, Performance comparison of a planar bipedal robot with rigid and compliant legs, IFAC World Conf., 2011.

M. Laffranchi, N.G.Tsagarakis, and D.G.Caldwell. A Compact Compliant Actuator with Variable Physical Damping IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai.

L. Masia, V. Squeri, Devjani, E. Burdet, G. Sandini, P. Morasso Stabilizing unstable object by means of kinematic redundancy. Proc Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 1: 3698-702.

J. Park, S. Haddadin, J. Song, A. Albu-Schäffer: Designing Optimally Safe Robot Surface Properties for Minimizing the Stress Characteristics of Human-Robot Collisions, Int. Conf. on Robotics and Automation (ICRA 2011), pp. 5413 - 5420 [PDF]

S. Parusel, S. Haddadin, A. Albu-Shaeffer: Modular state-based behaviour control for safe human-robot interaction: A lightweight control architecture for a lightweight robot IEEE Int. Conf. on Robotics and Automation (ICRA 2011), pp. 4298 - 4305 [PDF]

F. Petit and A. Albu-Schäffer: State Feedback Damping Control For A Multi DOF Variable Stiffness Robot Arm, IEEE Int. Conf. on Robotics and Automation (ICRA 2011), pp. 5561 - 5567 [PDF]

F.Petit and A.Albu-Schäffer: Cartesian Impedance Control For A Variable Stiffness Robot Arm IROS 2011, pp. 4180 - 4186

S. Rao, R. Carloni, S. Stramigioli A novel energy-efficient rotational variable stiffness actuator. IEEE/EMBS International Conference of Engineering in Medicine and Biology Society

A. Serio, G. Grioli, I. Sardellitti, N. G. Tsagarakis and A. Bicchi A decoupled Impedance observer for a Variable Stiffness Robot International Conference of Robotics and Automation - ICRA 2011, pp. 5548 - 5553

N. G. Tsagarakis, I. Sardellitti, D. G. Caldwell A New Variable Stiffness Actuator (CompAct-VSA): Design and Modelling IEEE International Conference of Intelligent Robots and Systems (IEEE IROS 2011)

M. Van Damme, P; Beyl, B. Vanderborght, V. Grosu, R. Van Ham, I. Vanderniepen, A. Matthys, D. Lefeber. Estimating Robot End-Effector Force from Noisy Actuator Torque Measurements, 2011 IEEE International Conference on Robotics and Automation (ICRA2011), https://ras.papercept.net/conferences/scripts/abstract.pl?ConfID=34&Number=1330

R. Van Ham, B. Vanderborght, M. Van Damme, V. Grosu, D. Lefeber MACCEPA, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator: different design options IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China, 2011

G. van Oort, R. Reinink and S. Stramigioli, New ankle actuation mechanism for a humanoid robot IFAC World Congress 2011

G. van Oort, R. Carloni, D.J. Borgerink and S. Stramigioli, An Energy Efficient Knee Locking Mechanism for a Dynamically Walking Robot, IEEE Int. Conf. Robotics and Automation, 2011.

G. van Oort and S. Stramigioli, Geometric Interpretation of the Zero-Moment Point, IEEE Int. Conf. Robotics and Automation, 2011.

R. Vertechy, A. Frisoli, M. Bergamasco, F. Carpi, G. Frediani, D. De Rossi, Modelling and experimental validation of buckling dielectric elastomer actuators Proc. of the ASME 2011 Conference on Smart Materials, Adaptive Structures and Intelligent Systems – SMASIS 2011, September 18-21, 2011, Scottsdale, Arizona, USA, pp. 1-8, 2011.

L. C. Visser, S. Stramigioli, and A. Bicchi. Embodying Desired Behavior in Variable Stiffness Actuators. Congress of the International Federation of Automatic Control, Milano, italy, August 28 - September 2 2011

L.C. Visser, S. Stramigioli, and R. Carloni, Improving Robustness in Bipedal Walking by using Variable Stiffness Actuation Dynamic Walking Workshop Abstract with no review + poster presentation

C Yang and E. Burdet A model of reference trajectory adaptation for interaction with objects of arbitrary shape and impedance. Proc IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

S. Wolf, O.Eiberger and G.Hirzinger: The DLR FSJ: Energy based design of a variable stiffness joint IEEE Int. Conf. on Robotics and Automation (ICRA 2011), pp. 5082 - 5089 [PDF]

S-H Zhou, D Oetomo, Y Tan, E Burdet, I Mareels Human Motor Computational Model Through Iterative MRAC. Proc World Congress of the International Federation of Automatic Control (IFAC)

2010

A. Albu-Schaeffer, S. Wolf, O. Eiberger, S. Haddadin, F. Petit, and M. Chalon. Dynamic modeling and control of variable stiffness actuators ICRA 2010 [PDF]

A. Albu-Schäffer, O. Eiberger, M. Grebenstein, S. Haddadin, Ch. Ott, T. Wimböck, S. Wolf,  Gerd Hirzinger Soft Robotics: From Torque Feedback Controlled Lightweight Robots to Intrinsically Compliant Systems International Conference on Control, Automation and Systems (ICCAS 2010)

M. Biso, A. Ansaldo Don N. Futaba, K. Hata and D. Ricci Use of chemically modified CNTs improves performances of plastic actuators XXIVth International winterschool on electronic properties of novel materials, March 6-13, 2010 Kirchberg/Tirol - Austria

M. Biso, A. Ansaldo Don N. Futaba, K. Hata and D. Ricci Chemical modification of CNTs to improve bucky gel actuation International Meeting on the Chemistry of Nanotubes and Graphene (Chem on Tubes), Arcachon, France April 11-15, 2010

M. Biso, A. Ansaldo, D. N. Futaba, K. Hata and D. Ricci Performance Improvement in Bucky Gel Actuators by Chemical Modification of Super-GrowthCarbon Nanotubes, ACTUATOR 2010, Bremen, June 14-16, 2010

F. Carpi, G. Frediani and D. De Rossi, Hydrostatically coupled dielectric elastomer actuators: new opportunities for haptics Materials Research Society Symposium Proc., Vol. 1312

F. Carpi and D. De Rossi, Electroactive polymer artificial muscles: an overview In Design & Nature V, C. A. Brebbia and A. Carpi Editors, WIT Press, pp. 353-364, pp. 2010

F. Carpi, H.-E. Kiil, R. Kornbluh, P. Sommer-Larsen, G. Alici, Electroactive Polymer Actuators: From Lab to Market Proc. of ACTUATOR 2010, H. Borgmann, Editor, pp. 405-417, 2010

F. Carpi, G. Frediani and D. De Rossi, Contractile dielectric elastomer actuator based on hydrostatic coupling Proc. of ACTUATOR 2010, H. Borgmann, Editor, pp. 880-883, 2010

F. Carpi, G. Frediani and D. De Rossi, Bubble-like dielectric elastomer actuator with hydrostatic coupling for tactile displays Proc. of ACTUATOR 2010, H. Borgmann, Editor, pp. 884-887, 2010

F. Carpi, G. Frediani and D. De Rossi, Hydrostatically coupled dielectric elastomer actuators for tactile displays and cutaneous stimulators In Smart Structures and Materials 2010: Electroactive Polymer Actuators and Devices, Y. Bar-Cohen Editor, Proc. of SPIE, Vol. 7642, pp. 76420E-1 - 76420E-6, 2010.

M. G. Catalano, R. Schiavi, and A. Bicchi. Design of Variable Stiffness Actuators Mechanisms based on Enumeration and Analysis of Performance. IEEE International Conference on Robotics and Automation (ICRA2010), Anchorage, Alaska, pages 3285 - 3291, May 3 - 8 2010, [PDF]

M. G. Catalano, G. Grioli, F. Bonomo, R. Schiavi, and A. Bicchi. VSA-HD: From the Enumeration Analysis to the Prototypical Implementation IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei, Taiwan, 2010, pages 3676 - 3681.

M. Chalon, T. Wimboeck, G. Hirzinger Torque and Workspace Analysis for Flexible Tendon Driven Mechanisms ICRA 2010 [PDF]

M. Chalon, M. Grebenstein, G. Hirzinger: The thumb : guidelines for a robotic design IROS 2010

P. Cherelle, V. Grosu, P. Beyl, A. Mathys, R. Van Ham, M. Van Damme, B. Vanderborght, D. Lefeber The MACCEPA Actuation System as Torque Actuator in the Gait Rehabilitation Robot ALTACRO IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (IEEE BioRob 2010), Tokyo, Japan, p. 27-32.

G. Ganesh, A. Albu-Schaeffer, M. Haruno, M. Kawato and E. Burdet. Biomimetic motor behavior for simultaneous adaptation of force, impedance and trajectory in interaction tasks ICRA 2010, Best Paper Award finalist [PDF]

M. Van Damme, P. Beyl, B. Vanderborgh, R. Van Ham, I. Vanderniepen, A. Matthys, P. Cherelle, D. Lefeber, The Role of Compliance in Robot Safety Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments (DRHE 2010), pp.65 - 71 [PDF]

A. Jafari, N. Tsagarakis, B. Vanderborght, D. Caldwell, An Intrinsically Safe Actuator with the Ability to Adjust the Stiffness Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments (DRHE 2010)

S. Haddadin, A. Albu-Schaeffer, and G. Hirzinger: Soft-tissue Injury in Robotics ICRA 2010 [PDF]

O. Eiberger, S. Haddadin, M. Weis, A. Albu-Schaeffer, and G. Hirzinger: On Joint Design with Intrinsic Variable Compliance: Derivation of the DLR QA-Joint ICRA 2010 [PDF]

Thomas Wimböck, Christian Ott and Gerd Hirzinger, Immersion and Invariance Control for an Antagonistic Joint with Nonlinear Mechanical Stiffness IEEE CDC Conference 2010

F. Petit, M. Chalon, W. Friedl, M. Grebenstein, A. Albu-Schaeffer and G. Hirzinger, Bidirectional Antagonistic Variable Stiffness Actuation: Analysis, Design & Implementation ICRA 2010 [PDF]

F. Ficuciello, R. Carloni, L.C. Visser, S. Stramgioli Port-Hamiltonian Modeling for Soft-Finger Manipulation IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)

R. Ünal, R. Carloni, E.E.G. Hekman, S. Stramigioli, H.F.J.M. Koopman, Biomechanical Conceptual Design of a Passive Transfemoral Prosthesis IEEE/EMBS International Conference on Engineering in Medicine and Biology (EMBC 2010)

R. Ünal, S.M. Behrens, R.Carloni, E.E.G. Hekman, S. Stramigioli, H.F.J.M. Koopman, Prototype Design and Realization of an Innovative Energy Efficient Transfemoral Prosthesis IEEE/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010)

R. Ünal, R. Carloni, E.E.G. Hekman, S. Stramigioli, H.F.K.M. Koopman, Conceptual Design of an Energy Efficient Transfemoral Prosthesis IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)

F. Galantini, G. Gallone, F. Carpi, D. De Rossi, Soft Elastic Modulus and High Dielectric Constant: a Synergistic Matching for Elastomeric Actuators Proc. of ACTUATOR 2010, H. Borgmann, Editor, pp. 862-866, 2010

F. Galantini, G. Gallone, F. Carpi, D. De Rossi, Dielectric properties and elastic moduli, a delicate balance for dielectric elastomer actuators, 10th IEEE International Conference on Solid Dielectrics, Potsdam, July 2010

G. Gowrishankar, C. Yang, A. Albu-Schaeffer, Learning Interaction Force, Impedance and Trajectory: by Humans, for Robots 2010 International Symposium of Experimental Robots (ISER),

M. Grebenstein, G. Hirzinger, R. Siegwart Antagonistically Driven Finger Design for the Anthropomorphic DLR Hand Arm System, Humanoids 2010

M. Grebenstein, Seven Billion Perfect Hand Kinematics; A Kinematics Synthesis Method Paper type ICABB 2010

G. Grioli and A. Bicchi. A Non-invasive Real-Time Method for Measuring Variable Stiffness. Robotics Science and Systems, Zaragoza, Spain, June 2010, [PDF]

A. Jafari, N.g.Tsagarakis, B. Vanderborght, D.G. Caldwell, A Novel Actuator with Adjustable Stiffness (AwAS), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) Taipei, Taiwan, 18-22 Oct. 2010

Jafari A., Tsagarakis N., Vanderborght B., Caldwell D., An Intrinsically Safe Actuator with the Ability to Adjust the Stiffness Seventh IARP Workshop on Technical Challenges for Dependable Robots in Human Environments (DRHE 2010)

S. Haddadin, A. Albu-Schaeffer, O. Eiberger, and G. Hirzinger: New Insights Concerning Intrinsic Joint Elasticity for Safety IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2010), Taipeh, Taiwan, 2010. [PDF]

M. Laffranchi, N. G. Tsagarakis, and D. G.Caldwell, A Variable Physical Damping Actuator (VPDA) for Compliant Robotic Joints IEEE International Conference on Robotics and Automation (ICRA 2010)

L. Masia, V. Squeri, D. Saha, E. Burdet, G. Sandini and P.Morasso, Stabilizing unstable object by means of kinematic redundancy 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2010)

S. Rao, R. Carloni and S. Stramigioli, Stiffness and Position Control of a Prosthetic Wrist by means of a Neural Interface, IEEE/EMBS Int. Conf. Engineering in Medicine and Biology Society, 2010.

M. Randazzo, M. Fumagalli, G. Metta and G. Sandini , Closed loop control of a rotational joint driven by two antagonistic dielectric elastomer actuators, Electroactive Polymer Actuators and Devices (EAPAD) XII, 2010, DOI: 10.1117/12.847372

M. Randazzo, M. Fumagalli and G. Metta, Force control of a tendon driven joint actuated by dielectric elastomers, ACTUATORS2010 submitted

I. Sardellitti, G. Palli, N.G. Tsagarakis, D.G. Caldwell, Antagonistically Actuated Compliant Joint: Torque and Stiffness Control IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) Taipei, Taiwan, 18-22 Oct. 2010

N. G. Tsagarikis, A. Jafari and D. G. Caldwell, A Novel Variable Stiffness Actuator: Minimizing the Energy Requirements for the Stiffness Regulation 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2010)

N.G.Tsagarakis M.Laffranchi, B. Vanderborght and D.G.Caldwell, Compliant Actuation: Enhancing the Interaction Ability of Cognitive Robotics Systems Chapter in “Advances in Cognitive Systems”, eds S.Nefti-Meziani and J.O.Gray, IET Press., 2010, ISBN: 978-1-84919-075-6.

L.C. Visser, R. Carloni, R. Unal and S. Stramigioli, Modeling and design of energy efficient variable stiffness actuators, IEEE International Conference on Robotics and Automation (ICRA2010), Anchorage, Alaska, May 3 - 8 2010, pp. 3273 - 3278 [PDF]

L.C. Visser, R. Carloni and S. Stramigioli, Variable stiffness actuators: a port-based analysis and a comparison of energy efficiency, IEEE International Conference on Robotics and Automation (ICRA2010), Anchorage, Alaska, May 3 - 8 2010, pp. 3279 - 3284 [PDF]

L.C. Visser, R. Carloni, S. Stramigioli, Energy Efficient Variable Stiffness Actuators: Conceptual Design and Implementation Workshop: “New Variable Impedance Actuators for the Next Generation of Robots” (at ICRA 2010)

L.C. Visser, R. Carloni, S. Stramigioli, Energy Efficient Control of Robots with Variable Stiffness Actuators IFAC International Symposium on Nonlinear Control Systems 2010 (NOLCOS 2010) [PDF]

L.C. Visser, R. Carloni, F. Klijnstra, S. Stramigioli, A Prototype of a Novel Energy Efficient Variable Stiffness Actuator IEEE/EMBS International Conference on Engineering in Medicine and Biology [PDF]

L.C. Visser, R. Carloni, S. Stramigioli, Energy Efficient Variable Stiffness Actuators High Tech Mechatronica Conference 2010 (HTM 2010),

M. Wassink, R. Carloni and S. Stramigioli, Port-Hamiltonian Analysis of a Novel Robotic Finger Concept for Minimal Actuation Variable Impedance Grasping, IEEE Int. Conf. Robotics and Automation, 2010

M Wassink, R. Carloni, S. Stramigioli, Compliance of Under-Actuated Variable Impedance Robotic Finger, IEEE/RAS-EMBS Int. Conf. Biomedical Robotics and Biomechatronics, 2010

S-H Zhou, D Oetomo, Y Tan, E Burdet, I Mareels, Human Motor Computational Model Through Iterative MRAC Procs of  the 18th World Congress of the International Federation of Automatic Control (IFAC).

SH Zhou, D Oetomo, I Mareels, E Burdet (2010), Modelling of human motor control in an unstable task through operational space formulation.  Proc Int Conf Control Automation Robotics and Vision (ICARCV) 2030-5.

2009

A. Albu-Schaeffer, A. Bicchi , E. Burdet, D. Lefeber, A. Parravicini, P. van der Smagt, S. Stramigioli, N. Tsagarakis: VIACTORS - Variable Impedance ACTuation systems embodying advanced interaction behaviors Science Beyond Fiction. European Future Technologies Conference and Exhibition, Prague, 2009 (Poster presentation)

M. Bianchi, A. Serio, E. P. Scilingo, and A. Bicchi. A new softness display based on bi-elastic fabric. World Haptics, Salt Lake City, USA, pages 382 - 383, March, 18 - 20 2009 (poster presentation) [PDF]

M. Biso, A. Ansaldo and D. Ricci Strain and Frequency Improvement in Bucky Gel Actuators by Chemical Modification of Carbon Nanotubes, 5th World Congress on Biomimetics, Artificial Muscles and Nano- Bio, November 25-27, 2009 Osaka, Japan, [PDF]

M. Bisio and D. Ricci, Fully plastic actuator based on multi-walled carbon nanotubes bucky gel, IEEE/NANO 2009 pp 580 - 584 [PDF]

F. Carpi, G. Frediani and D. De Rossi, A new concept for dielectric elastomer actuators: hydrostatic coupling Smart Sensors, Actuators and MEMS 2009, Ulrich Schmid Editor, Proceedings of SPIE, Vol. 7362, p. 73620H

F. Carpi, G. Frediani and D. De Rossi, Dielectric elastomer actuators with hydrostatic coupling Smart Structures and Materials 2009: Electroactive Polymer Actuators and Devices, Y. Bar-Cohen Editor, Proceedings of SPIE, Vol. 7287, pp. 72870D-1 - 72870D-8.

F. Carpi, G. Frediani and D. De Rossi, Electromechanically active polymers: new opportunities for biomaterials and tissue engineering Proc. of World Congress on Medical Physics and Biomedical Engineering, September 7-12, 2009, Munich, Germany.

A. De Luca, F. Flacco, R. Schiavi, and A. Bicchi. Nonlinear Decoupled Motion-Stiffness Control and Collision Detection/Reaction for the VSA-II Variable Stiffness Device Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems, St. Louis MO USA, October, 11 - 15 2009, pages 5487-5494, [PDF]

O. Gerelli, R. Carloni, S. Stramigioli, Port-based modeling and optimal control for a new very versatile energy efficient actuator, SYROCO 2009.

A. Jafari, N. G. Tsagarakis, B. Vanderborght and D. G. Caldwell, Minimizing Energy Consumption through Optimal Mechanical Design and Stiffness Regulation, 2nd Workshop on Human Friendly Robotics, 2009, Sestri Levante, Italy [PDF]

S. Haddadin, A. Albu-Schaeffer, M. Frommberger, J. Rossmann, and G. Hirzinger "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

S. Haddadin, A. Albu-Schaeffer, M. Frommberger, J. Rossmann, and G. Hirzinger: "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

M. Laffranchi, N.G.Tsagarakis, F.Cannella and D.G.Caldwell, Antagonistic and Series Elastic Actuators: a Comparative Analysis on the Energy Consumption IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp5678-5684 [PDF]

M Laffranchi, N.G.Tsagarakis, and D.G.Caldwell, Safe Human Robot Interaction via Energy regulation control IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp35-41 [PDF]

R. Schiavi, F. Flacco, and A. Bicchi. Integration of Active and Passive Compliance Control for Safe Human-Robot Coexistence. Int. Conference of Robotics and Automation, Kobe, Japan, May, 12 - 17 2009, 259-264 [PDF]

N.G.Tsagarakis, M. Laffranchi, B. Vanderborght, D. G. Caldwell, A Compact Soft Actuator Unit for Small Scale Human Friendly Robots IEEE International Conference on Robotics and Automation Conference, (ICRA 2009), Kobe Japan, pp 4356-4362 [PDF].

B. Vanderborght, N. G. Tsagarakis, R. Van Ham, M. Gaudina, D. Caldwell, New adjustable compliant actuator MACCEPA 2.0 for energy efficient locomotion, Dynamic Walking Conference 2009, abstract only, presented.

B. Vanderborght, N. G. Tsagarakis, C. Semini, R. Van Ham, D. Caldwell., MACCEPA 2.0: Adjustable Compliant Actuator with Stiffening Characteristic for Energy Efficient Hopping,
IEEE International Conference on Robotics and Automation (ICRA 2009), pp 544-549 [PDF]

R. Versluys, A.  Matthys, R. Van Ham, I. Vanderniepen, D. Lefeber, Powered ankle-foot system that mimics intact human ankle behavior: proposal of a new concept, 2009 IEEE 11th International Conference on Rehabilitation Robotics (poster presentation).

R. Versluys, R. Van Ham, I. Vanderniepen, D. Lefeber Successful walking with a biologically-inspired below-knee prosthesis, 2009 IEEE 11th International Conference on Rehabilitation Robotics (Poster presentation.

PhD Theses

Towards Safe Control of a Compliant Manipulator Powered by Pneumatic Muscles (M. Van Damme)

Study and Development of Articulated Ankle Prostheses with Adaptable Compliance and Push-Off Properties (R. Versluys), Published

On compliant underactuated robotic fingers (M. Wassink), 2011

Analysis, Control and Design of walking robots (G. van Oort), 2011

Internal Reports

G. Agneta (2009) Energy storage in human muscle. DLR internal report DLR-IB 515- 2009/14. 84 pages