6 papers
A Spiking Neural Architecture for Coordinating Arm and Locomotor Control
Lea Steffen, Kathryn Simone, Graeme Damberger +3
Spiking Neural Networks (SNNs) coupled with neuromorphic hardware offer energy-efficient solutions for humanoid robot control. However, existing SNN-based motor control systems add…
Cleaning Robots in Public Spaces: A Survey and Proposal for Benchmarking Based on Stakeholders Interviews
Raphael Memmesheimer, Martina Overbeck, Bjoern Kral +4
Autonomous cleaning robots for public spaces have potential for addressing current societal challenges, such as labor shortages and cleanliness in public spaces. Other application…
Efficient Gesture Recognition on Spiking Convolutional Networks Through Sensor Fusion of Event-Based and Depth Data
Lea Steffen, Thomas Trapp, Arne Roennau +1
As intelligent systems become increasingly important in our daily lives, new ways of interaction are needed. Classical user interfaces pose issues for the physically impaired and a…
HoLLiE C -- A Multifunctional Bimanual Mobile Robot Supporting Versatile Care Applications
Lea Steffen, Martin Schulze, Christian Eichmann +8
Care robotics as a research field has developed a lot in recent years, driven by the rapidly increasing need for it. However, these technologies are mostly limited to a very concre…
Reactive Neural Path Planning with Dynamic Obstacle Avoidance in a Condensed Configuration Space
Lea Steffen, Tobias Weyer, Stefan Ulbrich +2
We present a biologically inspired approach for path planning with dynamic obstacle avoidance. Path planning is performed in a condensed configuration space of a robot generated by…
Comparing SONN Types for Efficient Robot Motion Planning in the Configuration Space
Lea Steffen, Tobias Weyer, Katharina Glueck +3
Motion planning in the configuration space (C-space) induces benefits, such as smooth trajectories. It becomes more complex as the degrees of freedom (DOF) increase. This is due to…