Sami Haddadin

Leibniz Universität Hannover

Robots and Humans in the Digital World

Unimate & PUMA

George Devol & Joseph Engelberger in 50’s Victor Scheinman at Unimation

Industrial Robotics

Human-Centered Robotics

Industry & SMEs Medicine

Assistive careService roboticsElderly Care

Source: Robot & Frank

Physical Interaction

Physicalinteraction

Force Control(Craig & Raibert,

Siciliano)

Torque Control(Paul, Khatib,

Hirzinger, Albu-Schäffer)

Modeling Dynamics (Atkeson & Hollerbach,

Khatib)

Impedance Control(Hogan, Albu-Schäffer, Ott)

Flexible Joint (Spong, De Luca)

Collision Handling (De Luca, Haddadin)

Mechatronics(Hirzinger)

Safety (Haddadin, Albu-Schäffer)

Early pHRI

Stanford, DLR

The Key To Sensitivity

Source: wikispaces

Hirzinger et. al. IJRR2002

The Key To Sensitivity

Source: wikispaces

Hirzinger et. al. IJRR2002

Dynamics Models

Model Based Control

Take me by the hand

Albu-Schäffer et. al. ICRA 2002, IJRR2007

Cartesian Impedance Control

Albu-Schäffer et. al. ICRA 2002, IJRR2007

Hogan JDSMC, 1985

Unified Force/Impedance Control

Schindlbeck & Haddadin, ICRA2015

• No force sensing necessary

• Provably stable for arbitrary passive environments

• Deals with contact discontinuities

The Basis for Reaction: Collision Handling

Haddadin, De Luca & Albu-Schäffer, in review at TRO

The Basis for Reaction: Collision Handling

Haddadin, De Luca & Albu-Schäffer, in review at TRO

Collision Detection and Reaction

De Luca & Mattone 2004, De Luca et. al. 2006, Haddadin et. al. IROS2008,

Haddadin et. al. RAM2011, Haddadin et al. Springer 2012

Detecting Contacts with Sharp Tools

Haddadin et. al, RAM 2017

Machine Learning Based Approach

What is the intention of a contact?

• Modeling seems hopeless

• Signals are, however, discriminative

• Why not data-driven?

Golz, Osendorfer & Haddadin, ICRA2015

Source: Korea University

Discriminate Collision from Interaction

Golz, Osendorfer & Haddadin, ICRA2015

Learning Assembly

Johannsmeier & Haddadin, 2017

Crash-Testing in Robotics

Haddadin et. al. RSS 2007

Haddadin et. al. RSS 2007

Goal: „The PC of Robotics that is as easy to use as an iPhone“

EASY-TO-USE PROGRAMMING

HIGH-PRECISION REPEATABILITY

AGILE LIKE A HUMAN ARM

HUMANLIKE SENSE OF TOUCH

COLLISION VS. SAFE INTERACTION

VIRTUAL WALLS

SENSITIVE INSERTION

Robotic Natives

Dry dishes Barbecue

Prepare lemondade Prepare coffee

Software and Hardware in Computing

Hardware

Software

Software and Hardware in Robotics

Hardware

Software

Tele-Care and Tele-Medicine

Thanks to ...

and many others!