1 citations · 1 across the 6 of their papers we have counts for
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Modular Robot Control with Motor Primitives
Moses C. Nah, Johannes Lachner, Neville Hogan
Despite a slow neuromuscular system, humans easily outperform modern robot technology, especially in physical contact tasks. How is this possible? Biological evidence indicates tha…
A Physically Consistent Stiffness Formulation for Contact-Rich Manipulation
Johannes Lachner, Moses C. Nah, Neville Hogan
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglec…
Combining Movement Primitives with Contraction Theory
Moses C. Nah, Johannes Lachner, Neville Hogan +1
This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamic…