2 citations · 4 across the 6 of their papers we have counts for
7 papers
MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices
Giovanni Franzese, Max Spahn, Jens Kober +1
To increase the reliability of collaborative robots in performing daily tasks, we require them to be accurate and not only repeatable. However, having a calibrated kinematics model…
Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics
Saray Bakker, Luzia Knoedler, Max Spahn +2
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics a…
Autotuning Symbolic Optimization Fabrics for Trajectory Generation
Max Spahn, Javier Alonso-Mora
In this paper, we present an automated parameter optimization method for trajectory generation. We formulate parameter optimization as a constrained optimization problem that can b…
Local Planner Bench: Benchmarking for Local Motion Planning
Max Spahn, Chadi Salmi, Javier Alonso-Mora
Local motion planning is a heavily researched topic in the field of robotics with many promising algorithms being published every year. However, it is difficult and time-consuming…
Dynamic Optimization Fabrics for Motion Generation
Max Spahn, Martijn Wisse, Javier Alonso-Mora
Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a d…
Adaptation through prediction: multisensory active inference torque control
Cristian Meo, Giovanni Franzese, Corrado Pezzato +2
Adaptation to external and internal changes is major for robotic systems in uncertain environments. Here we present a novel multisensory active inference torque controller for indu…
SplineLib: A Modern Multi-Purpose C++ Spline Library
Markus Frings, Norbert Hosters, Corinna Müller +4
This paper provides the description of a novel, multi-purpose spline library. In accordance with the increasingly diverse modes of usage of splines, it is multi-purpose in the sens…