16 citations · 52 across the 16 of their papers we have counts for
16 papers
Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theory
Johann Licher, Max Bartholdt, Henrik Krauss +3
Dynamic control of soft continuum robots (SCRs) holds great potential for expanding their applications, but remains a challenging problem due to the high computational demands of a…
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…
Learning-based Nonlinear Model Predictive Control of Articulated Soft Robots using Recurrent Neural Networks
Hendrik Schäfke, Tim-Lukas Habich, Christian Muhmann +3
Soft robots pose difficulties in terms of control, requiring novel strategies to effectively manipulate their compliant structures. Model-based approaches face challenges due to th…
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…
Domain-decoupled Physics-informed Neural Networks with Closed-form Gradients for Fast Model Learning of Dynamical Systems
Henrik Krauss, Tim-Lukas Habich, Max Bartholdt +2
Physics-informed neural networks (PINNs) are trained using physical equations and can also incorporate unmodeled effects by learning from data. PINNs for control (PINCs) of dynamic…
SPONGE: Open-Source Designs of Modular Articulated Soft Robots
Tim-Lukas Habich, Jonas Haack, Mehdi Belhadj +3
Soft-robot designs are manifold, but only a few are publicly available. Often, these are only briefly described in their publications. This complicates reproduction, and hinders th…
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…
Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes
Tim-Lukas Habich, Sarah Kleinjohann, Moritz Schappler
Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions.…
Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics
Tim-Lukas Habich, Melvin Hueter, Moritz Schappler +1
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy…
Non-Parametric Modeling of Spatio-Temporal Human Activity Based on Mobile Robot Observations
Marvin Stuede, Moritz Schappler
This work presents a non-parametric spatio-temporal model for mapping human activity by mobile autonomous robots in a long-term context. Based on Variational Gaussian Process Regre…
Sobi: An Interactive Social Service Robot for Long-Term Autonomy in Open Environments
Marvin Stuede, Konrad Westermann, Moritz Schappler +1
Long-term autonomy in service robotics is a current research topic, especially for dynamic, large-scale environments that change over time. We present Sobi, a mobile service robot…