14 citations · 29 across the 9 of their papers we have counts for
10 papers
Fast Non-Parametric Heteroscedastic Imitation Learning With Geometric Priors
Maximilian Mühlbauer, Arne Sachtler, Markus Knauer +4
When learning probabilistic policies from human demonstrations, data-efficient learning and fast adaptations to new scenarios are key requirements. One popular way to achieve intui…
Exploring Nonlinear Body Oscillations for Natural Quadruped Gaits
Annika Schmidt, Davide Calzolari, Arne Sachtler +13
Animals' body morphology shapes the gait patterns they can perform, where mechanical resonance reduces the need for active control. By tuning posture and muscle stiffness, they lev…
Strict Modes Everywhere - Bringing Order Into Dynamics of Mechanical Systems by a Potential Compatible With the Geodesic Flow
Arne Sachtler, Alin Albu-Schäffer
Strict nonlinear normal modes provide very regular families of oscillations within conservative mechanical systems. However, a strict normal mode will generally be an isolated curv…
Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator
Joel Ramadani, Vasilije Rakčević, 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 +2
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…
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems
Andre Coelho, Alin Albu-Schaeffer, Arne Sachtler +4
This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action t…
What Can Algebraic Topology and Differential Geometry Teach Us About Intrinsic Dynamics and Global Behavior of Robots?
Alin Albu-Schäffer, Arne Sachtler
Traditionally, robots are regarded as universal motion generation machines. They are designed mainly by kinematics considerations while the desired dynamics is imposed by strong ac…
Redundancy Resolution at Position Level
Alin Albu-Schäffer, Arne Sachtler
Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or inter…