19 citations · 66 across the 27 of their papers we have counts for
7 papers · 1 filter
BSA -- Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots
Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu +4
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the e…
A Solution to Slosh-free Robot Trajectory Optimization
Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo +1
This paper is about fast slosh free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model t…
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics
Johannes Ringwald, Samuel Schneider, Lingyun Chen +4
The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct…
Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence
Marvin Becker, Johannes Köhler, Sami Haddadin +1
Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpred…
LATTE: LAnguage Trajectory TransformEr
Arthur Bucker, Luis Figueredo, Sami Haddadin +4
Natural language is one of the most intuitive ways to express human intent. However, translating instructions and commands towards robotic motion generation and deployment in the r…
Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP
Anna Reithmeir, Luis Figueredo, Sami Haddadin
Manipulability ellipsoids efficiently capture the human pose and reveal information about the task at hand. Their use in task-dependent robot teaching - particularly their transfer…
Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees
Riddhiman Laha, Ruiai Sun, Wenxi Wu +4
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement…