63 citations · 98 across the 7 of their papers we have counts for
7 papers
Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow
Arne Sachtler, Alin Albu-Schäffer
Strict nonlinear normal modes provide very regular families of oscillations within conservative mechanical systems. However, a strict normal mode will generally be an isolated curv…
A Unified Framework for Probabilistic Dynamic-, Trajectory- and Vision-based Virtual Fixtures
Maximilian Mühlbauer, Bernhard Weber, Sylvain Calinon +3
Probabilistic Virtual Fixtures (VFs) enable the adaptive selection of the most suitable haptic feedback for each phase of a task, based on learned or perceived uncertainty. While k…
Software for the SpaceDREAM Robotic Arm
Maximilian Mühlbauer, Maxime Chalon, Maximilian Ulmer +1
Impedance-controlled robots are widely used on Earth to perform interaction-rich tasks and will be a key enabler for In-Space Servicing, Assembly and Manufacturing (ISAM) activitie…
Towards Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery
Michael Dyck, Alistair Weld, Julian Klodmann +6
Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has y…
Learning-based adaption of robotic friction models
Philipp Scholl, Maged Iskandar, Sebastian Wolf +5
In the Fourth Industrial Revolution, wherein artificial intelligence and the automation of machines occupy a central role, the deployment of robots is indispensable. However, the m…
SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World
Manuel Stoiber, Martin Pfanne, Klaus H. Strobl +2
Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-a…
Model-free Friction Observers for Flexible Joint Robots with Torque Measurements
Min Jun Kim, Fabian Beck, Christian Ott +1
This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed…