4 citations · 4 across the 2 of their papers we have counts for
4 papers · 1 filter
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…
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…