5 papers
RAM: Reachability Across Morphologies
Tim Walter, Xinyu Chen, Jonathan Külz +1
Many stages of the robotic lifecycle, from morphology synthesis to operation, rely fundamentally on the reachable workspace. However, current methods for approximating workspaces a…
Leveraging Analytic Gradients in Provably Safe Reinforcement Learning
Tim Walter, Hannah Markgraf, Jonathan Külz +1
The deployment of autonomous robots in safety-critical applications requires safety guarantees. Provably safe reinforcement learning is an active field of research that aims to pro…
A Design Co-Pilot for Task-Tailored Manipulators
Jonathan Külz, Sehoon Ha, Matthias Althoff
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulator…
Automatic Geometric Decomposition for Analytical Inverse Kinematics
Daniel Ostermeier, Jonathan Külz, Matthias Althoff
Calculating the inverse kinematics (IK) is a fundamental challenge in robotics. Compared to numerical or learning-based approaches, analytical IK provides higher efficiency and acc…
Holistic Construction Automation with Modular Robots: From High-Level Task Specification to Execution
Jonathan Külz, Michael Terzer, Marco Magri +2
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging rob…