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