2 papers
cs.RO2025
AI-based Framework for Robust Model-Based Connector Mating in Robotic Wire Harness Installation
Claudius Kienle, Benjamin Alt, Finn Schneider +3
Despite the widespread adoption of industrial robots in automotive assembly, wire harness installation remains a largely manual process, as it requires precise and flexible manipul…
cs.RO2024
Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization
Benjamin Alt, Claudius Kienle, Darko Katic +2
This paper presents SPI-DP, a novel first-order optimizer capable of optimizing robot programs with respect to both high-level task objectives and motion-level constraints. To that…