Publications (23)
Anomaly detection for generic failure monitoring in robotic assembly, screwing and manipulation
Niklas Grambow, Lisa-Marie Fenner, Felipe Kempkes +4
Out-of-distribution states in robot manipulation often lead to unpredictable robot behavior or task failure, limiting success rates and increasing risk of damage. Anomaly detection…
Towards High-Payload Admittance Control for Manual Guidance with Environmental Contact
Kevin Haninger, Marcel Radke, Axel Vick +1
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of co…
Industrial Cabling in Constrained Environments: a Practical Approach and Current Challenges
Tanureza Jaya, Benjamin Michalak, Marcel Radke +1
Cabling tasks (pulling, clipping, and plug insertion) are today mostly manual work, limiting the cost-effectiveness of electrification. Feasibility for the robotic grasping and ins…
Combining Sampling- and Gradient-based Planning for Contact-rich Manipulation
Filippo Rozzi, Loris Roveda, Kevin Haninger
Planning over discontinuous dynamics is needed for robotics tasks like contact-rich manipulation, which presents challenges in the numerical stability and speed of planning methods…
Soft finger rotational stability for precision grasps
Hun Jang, Valentyn Petrichenko, Joonbum Bae +1
Soft robotic fingers can safely grasp fragile or variable form objects, but their force capacity is limited, especially with less contact area: precision grasps and when objects ar…
Minimum directed information: A design principle for compliant robots
Kevin Haninger
A robot's dynamics -- especially the degree and location of compliance -- can significantly affect performance and control complexity. Passive dynamics can be designed with good re…