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8 papers · 2 filters
Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum
Lukas Gross, Lasse Maywald, Shivesh Kumar +2
Linear-quadratic regulators (LQR) are a well known and widely used tool in control theory for both linear and nonlinear dynamics. For nonlinear problems, an LQR-based controller is…
MILD: Multimodal Interactive Latent Dynamics for Learning Human-Robot Interaction
Vignesh Prasad, Dorothea Koert, Ruth Stock-Homburg +2
Modeling interaction dynamics to generate robot trajectories that enable a robot to adapt and react to a human's actions and intentions is critical for efficient and effective coll…
Multi-stage warm started optimal motion planning for over-actuated mobile platforms
G. J. Paz-Delgado, C. J. Pérez-del-Pulgar, M. Azkarate +2
This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinemat…
Continuous ErrP detections during multimodal human-robot interaction
Su Kyoung Kim, Michael Maurus, Mathias Trampler +2
Human-in-the-loop approaches are of great importance for robot applications. In the presented study, we implemented a multimodal human-robot interaction (HRI) scenario, in which a…
Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments
Benjamin Alt, Darko Katic, Rainer Jäkel +1
In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple pe…
Quantifying the Effect of Feedback Frequency in Interactive Reinforcement Learning for Robotic Tasks
Daniel Harnack, Julie Pivin-Bachler, Nicolás Navarro-Guerrero
Reinforcement learning (RL) has become widely adopted in robot control. Despite many successes, one major persisting problem can be very low data efficiency. One solution is intera…