IIT Publications Search

Publications
2021
Barrett E., Malzahn J., Tsagarakis N.
A compliant mechanism with progressive stiffness for robotic actuation
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2021-July, pp. 774-780
DOI 10.1109/AIM46487.2021.9517542 Conference Paper Conference
2021
Amara V.D., Malzahn J., Roozing W., Tsagarakis N.
Blending of Series-Parallel Compliant Actuation with Field Weakening Control for Explosive Motion Generation
IEEE Robotics and Automation Letters, vol. 6, (no. 2), pp. 2076-2083
DOI 10.1109/LRA.2021.3061066 Article Journal
2021
Romiti E., Kashiri N., Malzahn J., Tsagarakis N.G.
Minimum-Effort Task-based Design Optimization of Modular Reconfigurable Robots
IEEE International Conference on Robotics and Automation, pp. 9891-9897
DOI 10.1109/ICRA48506.2021.9561273 Article Conference
2021
Romiti E., Malzahn J., Kashiri N., Iacobelli F., Ruzzon M., Laurenzi A., Mingo-Hoffman E., Muratore L., Margan A., Baccelliere L., Cordasco S., Tsagarakis N.G.
Toward a Plug-and-Work Reconfigurable Cobot
IEEE/ASME Transactions on Mechatronics
DOI 10.1109/TMECH.2021.3106043 Article Journal
2020
Amara V.D., Malzahn J., Ren Z., Roozing W., Tsagarakis N.
On the efficient control of series-parallel compliant articulated robots
Proceedings - IEEE International Conference on Robotics and Automation, pp. 385-391
DOI 10.1109/ICRA40945.2020.9196786 Conference Paper Conference
2019
Malzahn J., Barrett E., Tsagarakis N.
A rolling flexure mechanism for progressive stiffness actuators
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, pp. 8415-8421
DOI 10.1109/ICRA.2019.8794004 Conference Paper Conference
2019
Kashiri N., Baccelliere L., Muratore L., Laurenzi A., Ren Z., Hoffman E.M., Kamedula M., Rigano G.F., Malzahn J., Cordasco S., Guria P., Margan A., Tsagarakis N.G.
CENTAURO: A hybrid locomotion and high power resilient manipulation platform
IEEE Robotics and Automation Letters, vol. 4, (no. 2), pp. 1595-1602
DOI 10.1109/LRA.2019.2896758 Article Journal
2019
Malzahn J., Kashiri N., Daley M.A., Tsagarakis N.
Editorial: Advances in mechatronics and biomechanics towards efficient robot actuation
Frontiers Robotics AI, vol. 6, (no. MAR)
DOI 10.3389/frobt.2019.00019 Editorial Journal
2019
Muster F.I., Malzahn J., Bertram T.
Exploiting Controllability for Vibration Damping in Multiple Planes of Link-Elastic Robot Arms
Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019, pp. 187-192
DOI 10.1109/ICMECH.2019.8722950 Conference Paper Conference
2019
Malzahn J., Roozing W., Tsagarakis N.
The Compliant Joint Toolbox for MATLAB: An Introduction With Examples
IEEE Robotics and Automation Magazine, vol. 26, (no. 3), pp. 52-63
DOI 10.1109/MRA.2019.2896360 Article Journal
2018
Kashiri N., Abate A., Abram S.J., Albu-Schaffer A., Clary P.J., Daley M., Faraji S., Furnemont R., Garabini M., Geyer H., Grabowski A.M., Hurst J., Malzahn J., Mathijssen G., Remy D., Roozing W., Shahbazi M., Simha S.N., Song J.-B., Smit-Anseeuw N., Stramigioli S., Vanderborght B., Yesilevskiy Y., Tsagarakis N.
An overview on principles for energy efficient robot locomotion
Frontiers Robotics AI, vol. 5, (no. DEC)
DOI 10.3389/frobt.2018.00129 Review Journal
2018
Malzahn J., Amara V.D., Tsagarakis N.
Continuously Controllable Series Clutches for Efficient Robot Actuation
Proceedings - IEEE International Conference on Robotics and Automation, pp. 7735-7741
DOI 10.1109/ICRA.2018.8463192 Conference Paper Conference
2018
Bethge S., Malzahn J., Tsagarakis N., Caldwell D.
FloBaRoID — A software package for the identification of robot dynamics parameters
Mechanisms and Machine Science, vol. 49, pp. 156-165
DOI 10.1007/978-3-319-61276-8_18 Conference Paper Book Series
2018
Giusti A., Malzahn J., Tsagarakis N.G., Althoff M.
On the Combined Inverse-Dynamics/Passivity-Based Control of Elastic-Joint Robots
IEEE Transactions on Robotics, vol. 34, (no. 6), pp. 1461-1471
DOI 10.1109/TRO.2018.2861917 Article Journal
2018
Tsagarakis N.G., Negrello F., Garabini M., Choi W., Baccelliere L., Loc V.G., Noorden J., Catalano M., Ferrati M., Muratore L., Kryczka P., Hoffman E.M., Settimi A., Rocchi A., Margan A., Cordasco S., Kanoulas D., Cardellino A., Natale L., Dallali H., Malzahn J., Kashiri N., Varricchio V., Pallottino L., Pavan C., Lee J., Ajoudani A., Caldwell D.G., Bicchi A.
WALK-MAN humanoid platform
Springer Tracts in Advanced Robotics, vol. 121, pp. 495-548
DOI 10.1007/978-3-319-74666-1_13 Book Chapter Book Series
2017
Malzahn J., Barasuol V., Janschek K.
Actuator Modeling and Simulation
Humanoid Robotics: A Reference, Publisher: Springer
DOI 10.1007/978-94-007-7194-9_75-1 Book Chapter Book
2017
Cursi F., Malzahn J., Tsagarakis N., Caldwell D.
An online interactive method for guided calibration of multi-dimensional force/torque transducers
IEEE-RAS International Conference on Humanoid Robots, pp. 398-405
DOI 10.1109/HUMANOIDS.2017.8246904 Conference Paper Conference
2017
Lee C., Lee J., Malzahn J., Tsagarakis N., Oh S.
A two-staged residual for resilient external torque estimation with series elastic actuators
IEEE-RAS International Conference on Humanoid Robots, pp. 817-823
DOI 10.1109/HUMANOIDS.2017.8246966 Conference Paper Conference