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Nico Mansfeld

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2020 – today

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2023
[j4]
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Mazin Hamad, Alexander Kurdas, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Modularize-and-Conquer: A Generalized Impact Dynamics and Safe Precollision Control Framework for Floating-Base Tree-Like Robots. IEEE Trans. Robotics 39(4): 3200-3221 (2023)
[c21]
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Riddhiman Laha, Wenxi Wu, Ruiai Sun, Nico Mansfeld, Luis F. C. Figueredo, Sami Haddadin:
S*: On Safe and Time Efficient Robot Motion Planning. ICRA 2023: 12758-12764
[i3]
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  - journals/corr/abs-2306-06525
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Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba, Nico Mansfeld, Saeed Abdolshah, Abdalla Swikir, Wolfram Burgard, Sami Haddadin:
Fast yet predictable braking manoeuvers for real-time robot control. CoRR abs/2306.06525 (2023)
2022
[j3]
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Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction. IEEE Robotics Autom. Lett. 7(2): 2993-3000 (2022)
[c20]
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Nico Mansfeld, Guillermo Gómez Peña, Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin:
Global Safety Characteristics of Wheeled Mobile Manipulators. CASE 2022: 2245-2252
[c19]
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Alexander Kurdas, Mazin Hamad, Jonathan Vorndamme, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Online Payload Identification for Tactile Robots Using the Momentum Observer. ICRA 2022: 5953-5959
[c18]
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Thomas Steinecker, Alexander Kurdas, Nico Mansfeld, Mazin Hamad, Robin Jeanne Kirschner, Saeed Abdolshah, Sami Haddadin:
Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction. ICRA 2022: 11209-11215
[c17]
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Robin Jeanne Kirschner, Florian Martineau, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Manual Maneuverability: Metrics for Analysing and Benchmarking Kinesthetic Robot Guidance. IROS 2022: 13414-13421
[i2]
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  - journals/corr/abs-2203-02706
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Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
ISO/TS 15066: How Different Interpretations Affect Risk Assessment. CoRR abs/2203.02706 (2022)
2021
[j2]
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Nico Mansfeld, Manuel Keppler, Sami Haddadin:
Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach. IEEE Robotics Autom. Lett. 6(3): 4600-4607 (2021)
[c16]
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Robin Jeanne Kirschner, João Jantalia, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems. ICRA 2021: 3590-3596
[c15]
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Robin Jeanne Kirschner, Alexander Kurdas, Kübra Karacan, Philipp Junge, Seyed Ali Baradaran Birjandi, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking. IROS 2021: 4290-4297
[c14]
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  - conf/isr2/KirschnerMAH21
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Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066. ISR 2021: 1-5
[c13]
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Robin Jeanne Kirschner, Nico Mansfeld, Guillermo Gómez Peña, Saeed Abdolshah, Sami Haddadin:
Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066. ISR 2021: 6-9
[i1]
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  - journals/corr/abs-2109-07201
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Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction. CoRR abs/2109.07201 (2021)

2010 – 2019

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2019
[c12]
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Gianluca Garofalo, Nico Mansfeld, Julius Jankowski, Christian Ott:
Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration. ICRA 2019: 6117-6123
[c11]
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Nico Mansfeld, Youssef Michel, Tobias Bruckmann, Sami Haddadin:
Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task. ICRA 2019: 9342-9348
[c10]
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Mazin Hamad, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin:
The Role of Robot Payload in the Safety Map Framework. IROS 2019: 195-200
2018
[j1]
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  - journals/ral/MansfeldHBMH18
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Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin, Sami Haddadin:
Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties. IEEE Robotics Autom. Lett. 3(3): 1880-1887 (2018)
2017
[c9]
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Nico Mansfeld, Fabian Beck, Alexander Dietrich, Sami Haddadin:
Interactive null space control for intuitively interpretable reconfiguration of redundant manipulators. IROS 2017: 5368-5375
[c8]
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  - conf/iros/MansfeldDV0OH17
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Nico Mansfeld, Badis Djellab, Jaime Raldua Veuthey, Fabian Beck, Christian Ott, Sami Haddadin:
Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization. IROS 2017: 5390-5397
2016
[c7]
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  - conf/amcc/MansfeldOH16
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Nico Mansfeld, Christian Ott, Sami Haddadin:
Maximal input limits for independent SISO control in modal space under consideration of actuator constraints. ACC 2016: 6721-6728
2015
[c6]
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Nico Mansfeld, Sami Haddadin:
A comparison of braking strategies for elastic joint robots. ICRA 2015: 789-796
[c5]
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  - conf/iros/BeetzBABBBHMMWW15
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Michael Beetz, Georg Bartels, Alin Albu-Schäffer, Ferenc Balint-Benczedi, Rico Belder, Daniel Beßler, Sami Haddadin, Alexis Maldonado, Nico Mansfeld, Thiemo Wiedemeyer, Roman Weitschat, Jan-Hendrik Worch:
Robotic agents capable of natural and safe physical interaction with human co-workers. IROS 2015: 6528-6535
2014
[c4]
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  - conf/iros/MansfeldH14
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Nico Mansfeld, Sami Haddadin:
Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection. IROS 2014: 3904-3911
2013
[c3]
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  - conf/isrr/HaddadinWHOMA13
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Sami Haddadin, Roman Weitschat, Felix Huber, Mehmet Can Özparpucu, Nico Mansfeld, Alin Albu-Schäffer:
Optimal Control for Viscoelastic Robots and Its Generalization in Real-Time. ISRR 2013: 131-148
2012
[c2]
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Sami Haddadin, Kai Krieger, Nico Mansfeld, Alin Albu-Schäffer:
On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level. IROS 2012: 5089-5096
[c1]
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Sami Haddadin, Nico Mansfeld, Alin Albu-Schäffer:
Rigid vs. elastic actuation: Requirements & performance. IROS 2012: 5097-5104

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