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Jörn Malzahn

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2020 – today

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2023
[c27]
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Edoardo Romiti, Francesco Iacobelli, Marco Ruzzon, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis:
An Optimization Study on Modular Reconfigurable Robots: Finding the Task-Optimal Design. CASE 2023: 1-8
2022
[c26]
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Maolin Lei, Liang Lu, Arturo Laurenzi, Luca Rossini, Edoardo Romiti, Jörn Malzahn, Nikos G. Tsagarakis:
An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments. Humanoids 2022: 594-601
2021
[j11]
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Vishnu Dev Amara, Jörn Malzahn, Wesley Roozing, Nikolaos G. Tsagarakis:
Blending of Series-Parallel Compliant Actuation With Field Weakening Control for Explosive Motion Generation. IEEE Robotics Autom. Lett. 6(2): 2076-2083 (2021)
[c25]
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Eamon Barrett, Jörn Malzahn, Nikos G. Tsagarakis:
A Compliant Mechanism with Progressive Stiffness for Robotic Actuation. AIM 2021: 774-780
[c24]
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Edoardo Romiti, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis:
Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots. ICRA 2021: 9891-9897
2020
[c23]
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Vishnu Dev Amara, Jörn Malzahn, Zeyu Ren, Wesley Roozing, Nikos G. Tsagarakis:
On the efficient control of series-parallel compliant articulated robots. ICRA 2020: 385-391

2010 – 2019

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2019
[j10]
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Jörn Malzahn, Navvab Kashiri, Monica A. Daley, Nikolaos G. Tsagarakis:
Editorial: Advances in Mechatronics and Biomechanics Towards Efficient Robot Actuation. Frontiers Robotics AI 6: 19 (2019)
[j9]
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Navvab Kashiri, Lorenzo Baccelliere, Luca Muratore, Arturo Laurenzi, Zeyu Ren, Enrico Mingo Hoffman, Malgorzata Kamedula, Giuseppe Francesco Rigano, Jörn Malzahn, Stefano Cordasco, Paolo Guria, Alessio Margan, Nikos G. Tsagarakis:
CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform. IEEE Robotics Autom. Lett. 4(2): 1595-1602 (2019)
[j8]
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Jörn Malzahn, Wesley Roozing, Nikos G. Tsagarakis:
The Compliant Joint Toolbox for MATLAB: An Introduction With Examples. IEEE Robotics Autom. Mag. 26(3): 52-63 (2019)
[c22]
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  - conf/icmech/MusterMB19
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Freia Irina Muster, Jörn Malzahn, Torsten Bertram:
Exploiting Controllability for Vibration Damping in Multiple Planes of Link-Elastic Robot Arms. ICM 2019: 187-192
[c21]
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Jörn Malzahn, Eamon Barrett, Nikos G. Tsagarakis:
A Rolling Flexure Mechanism for Progressive Stiffness Actuators. ICRA 2019: 8415-8421
2018
[j7]
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Navvab Kashiri, Andy Abate, Sabrina J. Abram, Alin Albu-Schäffer, Patrick Clary, Monica A. Daley, Salman Faraji, Raphael Furnemont, Manolo Garabini, Hartmut Geyer, Alena M. Grabowski, Jonathan W. Hurst, Jörn Malzahn, Glenn Mathijssen, C. David Remy, Wesley Roozing, Mohammad Shahbazi, Surabhi N. Simha, Jae-Bok Song, Nils Smit-Anseeuw, Stefano Stramigioli, Bram Vanderborght, Yevgeniy Yesilevskiy, Nikolaos G. Tsagarakis:
An Overview on Principles for Energy Efficient Robot Locomotion. Frontiers Robotics AI 5: 129 (2018)
[j6]
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Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff:
On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots. IEEE Trans. Robotics 34(6): 1461-1471 (2018)
[c20]
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Jörn Malzahn, Vishnu Dev Amara, Nikolaos G. Tsagarakis:
Continuously Controllable Series Clutches for Efficient Robot Actuation. ICRA 2018: 7735-7741
2017
[j5]
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Nikolaos G. Tsagarakis, Darwin G. Caldwell, Francesca Negrello, Wooseok Choi, Lorenzo Baccelliere, Vo-Gia Loc, J. Noorden, Luca Muratore, Alessio Margan, Alberto Cardellino, Lorenzo Natale, Enrico Mingo Hoffman, Houman Dallali, Navvab Kashiri, Jörn Malzahn, Jinoh Lee, Przemyslaw Kryczka, Dimitrios Kanoulas, Manolo Garabini, Manuel G. Catalano, Mirko Ferrati, Valerio Varricchio, Lucia Pallottino, Corrado Pavan, Antonio Bicchi, Alessandro Settimi, Alessio Rocchi, Arash Ajoudani:
WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments. J. Field Robotics 34(7): 1225-1259 (2017)
[j4]
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Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis:
On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder-Based Principles. IEEE Robotics Autom. Lett. 2(2): 1186-1194 (2017)
[j3]
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Wesley Roozing, Jörn Malzahn, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis:
On the Stiffness Selection for Torque-Controlled Series-Elastic Actuators. IEEE Robotics Autom. Lett. 2(4): 2255-2262 (2017)
[c19]
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Francesco Cursi, Jörn Malzahn, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
An online interactive method for guided calibration of multi-dimensional force/torque transducers. Humanoids 2017: 398-405
[c18]
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Chan Lee, Jinoh Lee, Jörn Malzahn, Nikolaos G. Tsagarakis, Sehoon Oh:
A two-staged residual for resilient external torque estimation with series elastic actuators. Humanoids 2017: 817-823
[c17]
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Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff:
Combined inverse-dynamics/passivity-based control for robots with elastic joints. ICRA 2017: 5281-5288
[c16]
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Jörn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos G. Tsagarakis, Darwin G. Caldwell:
What is the torque bandwidth of this actuator? IROS 2017: 4762-4768
[c15]
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Lorenzo Baccelliere, Navvab Kashiri, Luca Muratore, Arturo Laurenzi, Malgorzata Kamedula, Alessio Margan, Stefano Cordasco, Jörn Malzahn, Nikos G. Tsagarakis:
Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks. IROS 2017: 5594-5601
[c14]
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  - conf/raad/BethgeMTC17
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Stefan Bethge, Jörn Malzahn, Nikolaos G. Tsagarakis, Darwin G. Caldwell:
FloBaRoID - A Software Package for the Identification of Robot Dynamics Parameters. RAAD 2017: 156-165
[c13]
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Freia Irina John, Jörn Malzahn, Torsten Bertram:
Controllability and accessibility of vibrations in multiple planes on link-elastic robot arms. ROBIO 2017: 1491-1496
2016
[j2]
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Jörn Malzahn, Torsten Bertram:
On the Equivalence of Direct Strain Feedback and Lumped Parameter Wave Echo Control for Oscillation Damping of Elastic-Link Arms. IEEE Robotics Autom. Lett. 1(1): 447-454 (2016)
[c12]
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Wesley Roozing, Jörn Malzahn, Darwin G. Caldwell, Nikos G. Tsagarakis:
Comparison of open-loop and closed-loop disturbance observers for series elastic actuators. IROS 2016: 3842-3847
2015
[c11]
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  - conf/humanoids/NegrelloGCMCBT15
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Francesca Negrello, Manolo Garabini, Manuel G. Catalano, Jörn Malzahn, Darwin G. Caldwell, Antonio Bicchi, Nikolaos G. Tsagarakis:
A modular compliant actuator for emerging high performance and fall-resilient humanoids. Humanoids 2015: 414-420
[c10]
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Jörn Malzahn, Russell Schloss, Torsten Bertram:
Link elasticity exploited for payload estimation and force control. IROS 2015: 1508-1513
2014
[c9]
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Jörn Malzahn, René Felix Reinhart, Torsten Bertram:
Dynamics identification of a damped multi elastic link robot arm under gravity. ICRA 2014: 2170-2175
2012
[j1]
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  - journals/at/MalzahnPHB12
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Jörn Malzahn, Anh Son Phung, Frank Hoffmann, Torsten Bertram:
Bildbasierte Regelung eines gliedelastischen Roboterarms mit einem RGB-D-Sensor. Autom. 60(5): 246-259 (2012)
[c8]
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Jörn Malzahn, Anh Son Phung, Torsten Bertram:
Predictive Delay Compensation for Camera Based Oscillation Damping of a Multi Link Flexible Robot. ICIRA (3) 2012: 93-102
[c7]
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Jörn Malzahn, Anh Son Phung, Torsten Bertram:
Scene adaptive RGB-D based oscillation sensing for a multi flexible link robot arm in unstructured dynamic environments. IROS 2012: 1017-1022
[c6]
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  - conf/robio/PhungMHB12
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Anh Son Phung, Jörn Malzahn, Frank Hoffmann, Torsten Bertram:
Tool centered learning from demonstration for robotic arms with visual feedback. ROBIO 2012: 1117-1122
[c5]
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Jörn Malzahn, Anh Son Phung, Torsten Bertram:
A Multi-Link-Flexible Robot Arm Catching Thrown Balls. ROBOTIK 2012
2011
[c4]
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Jörn Malzahn, Anh Son Phung, Frank Hoffmann, Torsten Bertram:
Vibration control of a multi-flexible-link robot arm under gravity. ROBIO 2011: 1249-1254
[c3]
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Anh Son Phung, Jörn Malzahn, Frank Hoffmann, Torsten Bertram:
Data based kinematic model of a multi-flexible-link robot arm for varying payloads. ROBIO 2011: 1255-1260
2010
[c2]
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  - conf/isr/MalzahnPFHB10
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Jörn Malzahn, Anh Son Phung, Rene Franke, Frank Hoffmann, Torsten Bertram:
Markerless Visual Vibration Damping of a 3-DOF Flexible Link Robot Arm. ISR/ROBOTIK 2010: 1-8

2000 – 2009

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2009
[c1]
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Rene Franke, Jörn Malzahn, Thomas Nierobisch, Frank Hoffmann, Torsten Bertram:
Vibration control of a multi-link flexible robot arm with Fiber-Bragg-Grating sensors. ICRA 2009: 3365-3370

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