226 citations
- Centre National de la Recherche ScientifiqueFR1 paper
- CNRS-AIST JRL (Joint Robotics Laboratory)JP1 paper
- Johns Hopkins UniversityUS1 paper
- Laboratoire d'Informatique, de Robotique et de Microélectronique de MontpellierFR1 paper
- Maastricht UniversityNL1 paper
- National Institute of Advanced Industrial Science and TechnologyJP1 paper
- Technical University of MunichDE1 paper
- Technische Universität DarmstadtDE1 paper
- Université de MontpellierFR1 paper
- University of Campania "Luigi Vanvitelli"IT1 paper
- University of Naples Federico IIIT1 paper
5 papers
Robot Cell Modeling via Exploratory Robot Motions: A Novel and Accessible Data-Driven Approach
Gaetano Meli, Niels Dehio
Generating a collision-free robot motion is crucial for safe applications in real-world settings. This requires an accurate model of all obstacle shapes within the constrained robo…
Neural Implicit Swept Volume Models for Fast Collision Detection
Dominik Joho, Jonas Schwinn, Kirill Safronov
Collision detection is one of the most time-consuming operations during motion planning. Thus, there is an increasing interest in exploring machine learning techniques to speed up…
A General Framework for Hierarchical Redundancy Resolution Under Arbitrary Constraints
Mario D. Fiore, Gaetano Meli, Anton Ziese +2
The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics demands control algorithms to handle multiple…
Impact-Aware Task-Space Quadratic-Programming Control
Yuquan Wang, Niels Dehio, Arnaud Tanguy +1
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversibl…
Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study
Christoph Hennersperger, Bernhard Fuerst, Salvatore Virga +4
Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided u…