4 papers
Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator
Joel Ramadani, Vasilije RakÄeviÄ, Riddhiman Laha +4
Non-prehensile object manipulation skills are important for real-world robot interactions, enabling highly dynamic tasks such as balancing a glass on a tray or the controlled slidi…
Locomotion of an Elastic Snake Robot via Natural Dynamics
Tristan Ehlert, Arne Sachtler, Annika Schmidt +2
Nature suggests that exploiting the elasticities and natural dynamics of robotic systems could increase their locomotion efficiency. Prior work on elastic snake robots supports thi…
Symmetric Lyapunov Subcenter Manifolds for Periodic Regulation of Mechanical Systems
Yannik P. Wotte, Arne Sachtler, Alin Albu-Schäffer +3
Multi-body mechanical systems have rich internal dynamics, whose solutions can be exploited as energy-efficient control targets. Yet, solutions non-trivially depend on system param…
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes
Arne Sachtler, Davide Calzolari, Maximilian Raff +5
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the u…