14 citations · 36 across the 5 of their papers we have counts for
5 papers
Self-Contained and Automatic Calibration of a Multi-Fingered Hand Using Only Pairwise Contact Measurements
Johannes Tenhumberg, Leon Sievers, Berthold Bäuml
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic s…
Speeding Up Optimization-based Motion Planning through Deep Learning
Johannes Tenhumberg, Darius Burschka, Berthold Bäuml
Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding…
Self-Contained Calibration of an Elastic Humanoid Upper Body Using Only a Head-Mounted RGB Camera
Johannes Tenhumberg, Dominik Winkelbauer, Darius Burschka +1
When a humanoid robot performs a manipulation task, it first makes a model of the world using its visual sensors and then plans the motion of its body in this model. For this, prec…
Calibration of an Elastic Humanoid Upper Body and Efficient Compensation for Motion Planning
Johannes Tenhumberg, Berthold Bäuml
High absolute accuracy is an essential prerequisite for a humanoid robot to autonomously and robustly perform manipulation tasks while avoiding obstacles. We present for the first…
Efficient Learning of Fast Inverse Kinematics with Collision Avoidance
Johannes Tenhumberg, Arman Mielke, Berthold Bäuml
Fast inverse kinematics (IK) is a central component in robotic motion planning. For complex robots, IK methods are often based on root search and non-linear optimization algorithms…