Jörn Malzahn

Publication Activity (10 Years)

Years Active: 2009-2023
Publications (10 Years): 26

Top Topics

Natural Actor Critic

Uncertain Environments

Top Venues

IEEE Robotics Autom. Lett.

Publications

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)
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)
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) (2021)
Edoardo Romiti, Navvab Kashiri, Jörn Malzahn, Nikos G. Tsagarakis
Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots. ICRA (2021)
Eamon Barrett, Jörn Malzahn, Nikos G. Tsagarakis
A Compliant Mechanism with Progressive Stiffness for Robotic Actuation. AIM (2021)
Vishnu Dev Amara, Jörn Malzahn, Zeyu Ren, Wesley Roozing, Nikos G. Tsagarakis
On the efficient control of series-parallel compliant articulated robots. ICRA (2020)
Jörn Malzahn, Wesley Roozing, Nikos G. Tsagarakis
The Compliant Joint Toolbox for MATLAB: An Introduction With Examples. IEEE Robotics Autom. Mag. 26 (3) (2019)
Freia Irina Muster, Jörn Malzahn, Torsten Bertram
Exploiting Controllability for Vibration Damping in Multiple Planes of Link-Elastic Robot Arms. ICM (2019)
Jörn Malzahn, Eamon Barrett, Nikos G. Tsagarakis
A Rolling Flexure Mechanism for Progressive Stiffness Actuators. ICRA (2019)
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) (2019)
Jörn Malzahn, Navvab Kashiri, Monica A. Daley, Nikolaos G. Tsagarakis
Editorial: Advances in Mechatronics and Biomechanics Towards Efficient Robot Actuation. Frontiers Robotics AI 6 (2019)
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) (2018)
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 (2018)
Jörn Malzahn, Vishnu Dev Amara, Nikolaos G. Tsagarakis
Continuously Controllable Series Clutches for Efficient Robot Actuation. ICRA (2018)
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)
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)
Freia Irina John, Jörn Malzahn, Torsten Bertram
Controllability and accessibility of vibrations in multiple planes on link-elastic robot arms. ROBIO (2017)
Andrea Giusti, Jörn Malzahn, Nikolaos G. Tsagarakis, Matthias Althoff
Combined inverse-dynamics/passivity-based control for robots with elastic joints. ICRA (2017)
Stefan Bethge, Jörn Malzahn, Nikolaos G. Tsagarakis, Darwin G. Caldwell
FloBaRoID - A Software Package for the Identification of Robot Dynamics Parameters. RAAD (2017)
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) (2017)
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) (2017)
Jörn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos G. Tsagarakis, Darwin G. Caldwell
What is the torque bandwidth of this actuator? IROS (2017)
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)
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) (2017)
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) (2016)
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)
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)
Jörn Malzahn, Russell Schloss, Torsten Bertram
Link elasticity exploited for payload estimation and force control. IROS (2015)
Jörn Malzahn, René Felix Reinhart, Torsten Bertram
Dynamics identification of a damped multi elastic link robot arm under gravity. ICRA (2014)
Anh Son Phung, Jörn Malzahn, Frank Hoffmann, Torsten Bertram
Tool centered learning from demonstration for robotic arms with visual feedback. ROBIO (2012)
Jörn Malzahn, Anh Son Phung, Torsten Bertram
A Multi-Link-Flexible Robot Arm Catching Thrown Balls. ROBOTIK (2012)
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)
Jörn Malzahn, Anh Son Phung, Frank Hoffmann, Torsten Bertram
Bildbasierte Regelung eines gliedelastischen Roboterarms mit einem RGB-D-Sensor. Autom. 60 (5) (2012)
Jörn Malzahn, Anh Son Phung, Torsten Bertram
Predictive Delay Compensation for Camera Based Oscillation Damping of a Multi Link Flexible Robot. ICIRA (3) (2012)
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)
Jörn Malzahn, Anh Son Phung, Frank Hoffmann, Torsten Bertram
Vibration control of a multi-flexible-link robot arm under gravity. ROBIO (2011)
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)
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)