16 citations · 42 across the 10 of their papers we have counts for
10 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…
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…
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…
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…
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…
Have I been here before? Learning to Close the Loop with LiDAR Data in Graph-Based SLAM
Tim-Lukas Habich, Marvin Stuede, Mathieu Labbé +1
This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compa…