Sascha Kaden

Papers

Total Citations

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About

Sascha Kaden’s research lies at the intersection of human-robot interaction and motion planning, with a focus on making robotic arms move more naturally, safely, and flexibly. His major contributions center on integrating biophysical characteristics of human arm motions into sampling-based motion planning algorithms, enabling humanoid robots to generate human-like trajectories that facilitate social understanding and acceptance. In his most-cited work, “Generation of Human-like Arm Motions using Sampling-based Motion Planning” (2021, 13 citations), Kaden demonstrates how biologically inspired constraints can produce natural movements while maintaining collision-free operation. He further advances the field by developing methods to maximize robot manipulability along planned paths, a critical capability for human-robot collaboration where robots must react to unforeseen events and dynamic obstacles. His papers “Maximizing Robot Manipulability along Paths in Collision-free Motion Planning” (2019, 7 citations) and “Optimizing Mobility of Robotic Arms in Collision-free Motion Planning” (2021, 7 citations) provide foundational frameworks for ensuring that robots retain the dexterity and flexibility needed to avoid humans and adapt to changing environments. Kaden’s work is essential reading for researchers designing collaborative robotic systems that are both efficient and intuitively safe for human partners.