25 citations · 67 across the 7 of their papers we have counts for
7 papers
Enabling Scalable Kinesthetic Teaching via Observer-based Hand-guiding with Active Support
Anna Tuma, Giuseppe Monetti, Jochen J. Steil +1
Kinesthetic teaching through robot hand-guiding provides a natural interface for collecting demonstrations in imitation learning and programming-by-demonstration. However, extended…
Shared Object Manipulation with a Team of Collaborative Quadrupeds
Shengzhi Wang, Niels Dehio, Xuanqi Zeng +4
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In…
Optimization of Workload Mapping and Scheduling in Scaling Heterogeneous HPC Systems: A Systematic Literature Review
Aasish Kumar Sharma, Julian Kunkel
The increasing heterogeneity of High-Performance Computing (HPC) systems, incorporating Central Processing Units (CPUs), Graphics Processing Units (GPUs), Field-Programmable Gate A…
Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator
Yuquan Wang, Niels Dehio, Abderrahmane Kheddar
In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is essential to enforce controller feasibility and hardware integrity. We observe a considerable…
On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts
Yuquan Wang, Niels Dehio, Abderrahmane Kheddar
State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailo…
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…
A Projected Inverse Dynamics Approach for Dual-arm Cartesian Impedance Control
Hsiu-Chin Lin, Joshua Smith, Keyhan Kouhkiloui Babarahmati +2
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected in…