4 papers
Passive Variable Impedance For Shared Control
Maximilian Mühlbauer, Nepomuk Werner, Ribin Balachandran +4
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains,…
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…
MOMO: A framework for seamless physical, verbal, and graphical robot skill learning and adaptation
Markus Knauer, Edoardo Fiorini, Maximilian Mühlbauer +10
Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefi…
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…