133 citations · 237 across the 9 of their papers we have counts for
11 papers · 1 filter
Motion Generation With Environmental Constraints
Előd Páll, Oliver Brock
Robot motion planning faces challenges in high-dimensional spaces and uncertain environments, often constrained by the need for collision-free motions. We advocate an alternative a…
Acoustic Sensing for Universal Jamming Grippers
Lion Weber, Theodor Wienert, Martin Splettstößer +2
Universal jamming grippers excel at grasping unknown objects due to their compliant bodies. Traditional tactile sensors can compromise this compliance, reducing grasping performanc…
In-Hand Cube Reconfiguration: Simplified
Sumit Patidar, Adrian Sieler, Oliver Brock
We present a simple approach to in-hand cube reconfiguration. By simplifying planning, control, and perception as much as possible, while maintaining robust and general performance…
Dexterous Soft Hands Linearize Feedback-Control for In-Hand Manipulation
Adrian Sieler, Oliver Brock
This paper presents a feedback-control framework for in-hand manipulation (IHM) with dexterous soft hands that enables the acquisition of manipulation skills in the real-world with…
Augmentation for Learning From Demonstration with Environmental Constraints
Xing Li, Manuel Baum, Oliver Brock
We introduce a Learning from Demonstration (LfD) approach for contact-rich manipulation tasks with articulated mechanisms. The extracted policy from a single human demonstration ge…
"The World Is Its Own Best Model": Robust Real-World Manipulation Through Online Behavior Selection
Manuel Baum, Oliver Brock
Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to o…