4 papers · 1 filter
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…
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…