16 citations · 52 across the 16 of their papers we have counts for
4 papers · 2 filters
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…