33 citations · 69 across the 7 of their papers we have counts for
4 papers · 2 filters
Self-Contained and Automatic Calibration of a Multi-Fingered Hand Using Only Pairwise Contact Measurements
Johannes Tenhumberg, Leon Sievers, Berthold Bäuml
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic s…
Speeding Up Optimization-based Motion Planning through Deep Learning
Johannes Tenhumberg, Darius Burschka, Berthold Bäuml
Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding…
Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulation
Lennart Röstel, Johannes Pitz, Leon Sievers +1
This paper identifies and addresses the problems with naively combining (reinforcement) learning-based controllers and state estimators for robotic in-hand manipulation. Specifical…
Dextrous Tactile In-Hand Manipulation Using a Modular Reinforcement Learning Architecture
Johannes Pitz, Lennart Röstel, Leon Sievers +1
Dextrous in-hand manipulation with a multi-fingered robotic hand is a challenging task, esp. when performed with the hand oriented upside down, demanding permanent force-closure, a…