12 citations · 17 across the 8 of their papers we have counts for
8 papers
Fast Contact Detection via Fusion of Joint and Inertial Sensors for Parallel Robots in Human-Robot Collaboration
Aran Mohammad, Jan Piosik, Dustin Lehmann +2
Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dyn…
Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networks
Tim-Lukas Habich, Aran Mohammad, Simon F. G. Ehlers +3
Soft robots can revolutionize several applications with high demands on dexterity and safety. When operating these systems, real-time estimation and control require fast and accura…
SafePR: Unified Approach for Safe Parallel Robots by Contact Detection and Reaction with Redundancy Resolution
Aran Mohammad, Tim-Lukas Habich, Thomas Seel +1
Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the sa…
Towards Optimized Parallel Robots for Human-Robot Collaboration by Combined Structural and Dimensional Synthesis
Aran Mohammad, Thomas Seel, Moritz Schappler
Parallel robots (PR) offer potential for human-robot collaboration (HRC) due to their lower moving masses and higher speeds. However, the parallel leg chains increase the risks of…
Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots
Aran Mohammad, Hendrik Muscheid, Moritz Schappler +1
In human-robot collaboration, unintentional physical contacts occur in the form of collisions and clamping, which must be detected and classified separately for a reaction. If cert…
Safe Collision and Clamping Reaction for Parallel Robots During Human-Robot Collaboration
Aran Mohammad, Moritz Schappler, Tim-Lukas Habich +1
Parallel robots (PRs) offer the potential for safe human-robot collaboration because of their low moving masses. Due to the in-parallel kinematic chains, the risk of contact in the…
Collision Isolation and Identification Using Proprioceptive Sensing for Parallel Robots to Enable Human-Robot Collaboration
Aran Mohammad, Moritz Schappler, Tobias Ortmaier
Parallel robots (PRs) allow for higher speeds in human-robot collaboration due to their lower moving masses but are more prone to unintended contact. For a safe reaction, knowledge…
Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection
Aran Mohammad, Moritz Schappler, Tobias Ortmaier
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving mass…