1 citations · 1 across the 7 of their papers we have counts for
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Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks
Noah Geiger, Tamim Asfour, Neville Hogan +1
Learning-based methods excel at robot motion generation but remain limited in contact-rich physical interaction. Impedance control provides stable and safe contact behavior but req…
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…
Divide et Impera: Decoding Impedance Strategies for Robotic Peg-in-Hole Assembly
Johannes Lachner, Federico Tessari, A. Michael West +2
This paper investigates robotic peg-in-hole assembly using the Elementary Dynamic Actions (EDA) framework, which models contact-rich tasks through a combination of submovements, os…
Robot Control based on Motor Primitives -- A Comparison of Two Approaches
Moses C. Nah, Johannes Lachner, Neville Hogan
Motor primitives are fundamental building blocks of a controller which enable dynamic robot behavior with minimal high-level intervention. By treating motor primitives as basic "mo…
Exp[licit]-A Robot modeling Software based on Exponential Maps
Johannes Lachner, Moses C. Nah, Stefano Stramigioli +1
Deriving a robot's equation of motion typically requires placing multiple coordinate frames, commonly using the Denavit-Hartenberg convention to express the kinematic and dynami…
Kinematic Modularity of Elementary Dynamic Actions
Moses C. Nah, Johannes Lachner, Federico Tessari +1
In this paper, a kinematically modular approach to robot control is presented. The method involves structures called Elementary Dynamic Actions and a network model combining these…