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Mitarbeiter

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Nico Mansfeld

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Analyse und Regelung komplexer Robotersysteme
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28-1991
E-Mail: Nico Mansfeld

Ab 1.1.2020 werde ich an der TUM tätig sein:

https://www.msrm.tum.de

 

Publikationen

 

Buchkapitel

2015

[BC2] Sebastian Wolf, Thomas Bals, Maxime Chalon, Werner Friedl, Markus Grebenstein, Hannes Höppner, Markus Kühne, Dominic Lakatos, Nico Mansfeld, Mehmet Can Özparpucu, Florian Petit, Jens Reinecke, Roman Weitschat, and Alin Albu-Schäffer: Soft Robotics: Transferring Theory to Applications, Soft Robotics with Variable Stiffness Actuators: Tough Robots for Soft Human Robot Interaction, Springer, pp. 231-254.

[BC1] Sami Haddadin, Roman Weitschat, Felix Huber, Mehment Can Özparpucu, Nico Mansfeld, and Alin Albu-Schäffer, Optimal Control for Viscoelastic Robots and its Generalization on Real-Time, Springer Tracts on Advanced Robotics Robotics and Research (ISRR).

 

Journals

2018

[J1] 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 and Automation Letters (RA-L), vol.3, no. 3, pp. 1880-1887, 2018, nominated for ICRA 2018 Best Paper Award on Human-Robot Interaction.

 

Konferenzen

2019

[C13] Mazin Hamad, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin, The Role of Robot Payload in the Safety Map Framework, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), Macau, 2019.

[C12] 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, 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.

[C11] Gianluca Garofalo, Nico Mansfeld, Julius Jankowski, Christian Ott, Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration, 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.

2018

[C10] 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 and Automation Letters (RA-L), presented at the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.

2017

[C9] Nico Mansfeld, Fabian Beck, Alexander Dietrich, Sami Haddadin, Interactive Null Space Control for Intuitively Interpretable Reconfiguration of Redundant Manipulators, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), Vancouver, Canada, 2017.

[C8] Nico Mansfeld, Badis Djellab, Jaime Raldúa Veuthey, Fabian Beck, Christian Ott, Sami Haddadin, Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), Vancouver, Canada, 2017.

2016

[C7] Nico Mansfeld, Christian Ott, Sami Haddadin, Maximal Input Limits for Independent SISO Control in Modal Space Under Consideration of Actuator Constraints, American Control Conference (ACC2016), Boston, USA, 2016.

2015

[C6] Michael Beetz, Georg Bartels, Alin Albu-Schäffer, Ferenc Bálint-Benczédi, 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, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), Hamburg, Germany, 2015.

[C5] Nico Mansfeld and Sami Haddadin, A comparison of braking strategies for elastic joint robots, IEEE International Conference on Robotics and Automation (ICRA2015), 26-30 May 2015, Seattle, USA.

2014

[C4] Nico Mansfeld and Sami Haddadin, Reaching desired states time-optimally from equilibrium and vice versa for visco-elastic joint robots with limited elastic deflection, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2014), 2014, pp.3904-3911, 14-18 Sept. 2014, Chicago IL, USA.

2013

[C3] Sami Haddadin, Roman Weitschat, Felix Huber, Mehmet Can Özparpucu, Nico Mansfeld, and Alin Albu-Schäffer, Optimal Control for Viscoelastic Robots and its Generalization in Real-Time, International Symposium on Robotics Research (ISRR2013), 2013.

2012

[C2] Sami Haddadin, Nico Mansfeld, and Alin Albu-Schäffer, Rigid vs. elastic actuation: Requirements & performance, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, pp.5097-5104, 7-12 Oct. 2012, Vilamoura, Portugal.

[C1] Sami Haddadin, Kai Krieger, Nico Mansfeld, and Alin Albu-Schäffer, On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), 2012, pp.5089-5096, 7-12 Oct. 2012, Vilamoura, Portugal.

 

Patente

[P1] Sami Haddadin and Nico Mansfeld, Steuern und/oder Regeln von Motoren eines Roboters, German patent application no. 10 2015 106 227.5, filed on April 22, 2015.

 

Workshops, deutsche Publikationen etc.

2018

[G1] Alexander Dietrich, Jörn Vogel, Annette Hagengruber, Daniel Leidner, Peter Schmaus, Nico Mansfeld, Julian Klodmann, Thomas Bahls, Michael Panzirsch, Lioba Suchenwirth, and Alin Albu-Schäffer, Feinfühlige, interaktive Roboter in Krankenhaus und Pflege: Wo stehen wir und wohin geht die Reise?, Zeitschrift für medizinische Ethik, vol. 64, no. 4, pp. 307-325, November 2018.

[W5] Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin, Sami Haddadin, Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot Design, Workshop on Autonomous Robot Design the 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.

2015

[W4] Nico Mansfeld and Sami Haddadin, Sicherheit in der Mensch-Roboter-Interaktion, 8. wissenschaftliche Fachtagung Verarbeitungsmaschinen und Verpackungstechnik, 12-13 March 2015, Dresden.

2014

[W3] Nico Mansfeld, Mehmet Can Özparpucu, and Sami Haddadin, Braking elastic joint robots in near-minimum time, 7th International Workshop on Human-Friendly Robotics (HFR2014), 2014, Pontedera, Italy.

2013

[W2] Nico Mansfeld and Sami Haddadin, Collision Analysis and Safety Evaluation using a Collision Model for Blunt Robot-Human Impacts, DGR Days, 7-8 Oct. 2013, Munich, Germany.

[W1] Sami Haddadin and Nico Mansfeld, Human Injury Analysis in Robotics: An Overview, International Conference on Intelligent Robots and Systems (IROS2013).

 

Studenten
 

- Julius Jankowski, 2018, Internship

- Youssef Abdelwadoud, 2017, Internship

- Jaime Raldúa Veuthey, (2016 - 2017), Master's Thesis

- Fabian Beck, (2015 - 2016), Bachelor's Thesis

- Pantelis Vlachas (2015 - 2016), Praktikum

- Jihong Zhu (2015), Master's Thesis

- Badis Djellab (2015), Master's Thesis

- Li Chao (2015), Praktikum

- Antonio Gonzales Marin (2014), Master's Thesis

- Gauthier Hentz (2013-2014), Master's Thesis

 

Zuletzt aktualisiert: Montag, 23. Dezember 2019 von Nico Mansfeld