41 citations · 109 across the 16 of their papers we have counts for
4 papers · 1 filter
Model Predictive Impedance Control with Gaussian Processes for Human and Environment Interaction
Kevin Haninger, Christian Hegeler, Luka Peternel
Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. I…
Impedance Adaptation by Reinforcement Learning with Contact Dynamic Movement Primitives
Chunyang Chang, Kevin Haninger, Yunlei Shi +3
Dynamic movement primitives (DMPs) allow complex position trajectories to be efficiently demonstrated to a robot. In contact-rich tasks, where position trajectories alone may not b…
Flexure-based Environmental Compliance for High-speed Robotic Contact Tasks
Richard Hartisch, Kevin Haninger
The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the ro…
Towards High-Payload Admittance Control for Manual Guidance with Environmental Contact
Kevin Haninger, Marcel Radke, Axel Vick +1
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of co…