9 papers · 1 filter
Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits
Annika Schmidt, Davide Calzolari, Arne Sachtler +13
Animals' body morphology shapes the gait patterns they can perform, where mechanical resonance reduces the need for active control. By tuning posture and muscle stiffness, they lev…
ErgoSurf: Ergodic Control for the Coverage of Unknown Surfaces
Stefan Schneyer, Timo Bachmann, Maged Iskandar +4
Contact-centric tasks on surfaces, ranging from inspection and cleaning to sanding and polishing, require robots to systematically cover the surface while maintaining stable contac…
CLASP: Language-Driven Robot Skill Selection and Composition using Task-Parameterized Learning
Markus Knauer, Valentin Gieraths, Tai Mai +4
Enabling robots to understand and execute tasks from natural language commands while maintaining data efficiency remains challenging. Foundation models such as vision-language-acti…
Locomotion of an Elastic Snake Robot via Natural Dynamics
Tristan Ehlert, Arne Sachtler, Annika Schmidt +2
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports thi…
Passive Variable Impedance For Shared Control
Maximilian Mühlbauer, Nepomuk Werner, Ribin Balachandran +4
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains,…
MOMO: A framework for seamless physical, verbal, and graphical robot skill learning and adaptation
Markus Knauer, Edoardo Fiorini, Maximilian Mühlbauer +10
Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefi…