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research

∙ 09/18/2023

A Concise Overview of Safety Aspects in Human-Robot Interaction

As of today, robots exhibit impressive agility but also pose potential h...

0 Mazin Hamad, et al. ∙

research

∙ 09/14/2023

Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept

Elastic actuation taps into elastic elements' energy storage for dynamic...

0 Edmundo Pozo Fortunić, et al. ∙

research

∙ 09/13/2023

Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles

One of the most important aspects of autonomous systems is safety. This ...

0 Moritz Eckhoff, et al. ∙

research

∙ 07/19/2023

Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures

Studying the manipulation of deformable linear objects has significant p...

0 Kejia Chen, et al. ∙

research

∙ 06/26/2023

Towards Language-Based Modulation of Assistive Robots through Multimodal Models

In the field of Geriatronics, enabling effective and transparent communi...

0 Philipp Wicke, et al. ∙

research

∙ 06/10/2023

Fast yet predictable braking manoeuvers for real-time robot control

This paper proposes a framework for generating fast, smooth and predicta...

0 Mazin Hamad, et al. ∙

research

∙ 06/10/2023

Learning optimal controllers: a dynamical motion primitive approach

Real-time computation of optimal control is a challenging problem and, t...

0 Hugo T. M. Kussaba, et al. ∙

research

∙ 02/07/2023

Dual-Material 3D-Printed PaCoMe-Like Fingers for Flexible Biolaboratory Automation

Robotic automation in life science research is a paradigm that has gaine...

0 Henning Zwirnmann, et al. ∙

research

∙ 12/30/2022

BSA – Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots

Compliance in actuation has been exploited to generate highly dynamic ma...

0 Dennis Ossadnik, et al. ∙

research

∙ 12/12/2022

Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators

In this paper a global reactive motion planning framework for robotic ma...

0 Marvin Becker, et al. ∙

research

∙ 10/28/2022

Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence

Recently, many reactive trajectory planning approaches were suggested in...

0 Marvin Becker, et al. ∙

research

∙ 10/23/2022

A Solution to Slosh-free Robot Trajectory Optimization

This paper is about fast slosh free fluid transportation. Existing appro...

0 Rafael I. Cabral Muchacho, et al. ∙

research

∙ 10/18/2022

Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics

The number of sequential tasks a single gripper can perform is significa...

0 Johannes Ringwald, et al. ∙

research

∙ 08/16/2022

Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP

Manipulability ellipsoids efficiently capture the human pose and reveal ...

0 Anna Reithmeir, et al. ∙

research

∙ 08/04/2022

LaTTe: Language Trajectory TransformEr

Natural language is one of the most intuitive ways to express human inte...

11 Arthur Bucker, et al. ∙

research

∙ 03/25/2022

Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers

Natural language is the most intuitive medium for us to interact with ot...

0 Arthur Bucker, et al. ∙

research

∙ 03/20/2022

Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees

As collaborative robots move closer to human environments, motion genera...

0 Riddhiman Laha, et al. ∙

research

∙ 03/05/2022

ISO/TS 15066: How Different Interpretations Affect Risk Assessment

The current technical specification ISO/TS15066:2016(E) for safe human-r...

0 Robin Jeanne Kirschner, et al. ∙

research

∙ 01/24/2022

Towards Remote Robotic Competitions: An Internet-Connected Task Board and Dashboard

In this work we present a platform to assess robot platform skills using...

0 Peter So, et al. ∙

research

∙ 10/19/2021

Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space

Intelligent agents must be able to think fast and slow to perform elabor...

0 Maximilian Ulmer, et al. ∙

research

∙ 09/15/2021

Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction

In robotics, many control and planning schemes have been developed that ...

0 Robin Jeanne Kirschner, et al. ∙

research

∙ 05/30/2021

SyReNets: Symbolic Residual Neural Networks

Despite successful seminal works on passive systems in the literature, l...

0 Carlos Magno C. O. Valle, et al. ∙

research

∙ 10/30/2020

Learning Vision-based Reactive Policies for Obstacle Avoidance

In this paper, we address the problem of vision-based obstacle avoidance...

0 Elie Aljalbout, et al. ∙

research

∙ 10/25/2020

How to Make Deep RL Work in Practice

In recent years, challenging control problems became solvable with deep ...

0 Nirnai Rao, et al. ∙

research

∙ 07/21/2019

Tracking Holistic Object Representations

Recent advances in visual tracking are based on siamese feature extracto...

0 Axel Sauer, et al. ∙

research

∙ 10/30/2018

Simultaneous Contact and Aerodynamic Force Estimation (s-CAFE) for Aerial Robots

In this paper, we consider the problem of multirotor flying robots physi...

0 Teodor Tomić, et al. ∙

research

∙ 05/22/2018

A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control

In this paper we introduce a novel framework for expressing and learning...

0 Lars Johannsmeier, et al. ∙

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