4 citations · 7 across the 8 of their papers we have counts for
11 papers
Square Root Gauss-Newton iLQR
Maximilian Haas-Heger, Jur van den Berg
The iterative Linear Quadratic Regulator (iLQR) is a widely used algorithm for nonlinear trajectory optimization. At each iteration, it solves a local linear-quadratic approximatio…
Lane-Level Route Planning for Autonomous Vehicles
Mitchell Jones, Maximilian Haas-Heger, Jur van den Berg
We present an algorithm that, given a representation of a road network in lane-level detail, computes a route that minimizes the expected cost to reach a given destination. In doin…
On the Feasibility of Learning Finger-gaiting In-hand Manipulation with Intrinsic Sensing
Gagan Khandate, Maxmillian Haas-Heger, Matei Ciocarlie
Finger-gaiting manipulation is an important skill to achieve large-angle in-hand re-orientation of objects. However, achieving these gaits with arbitrary orientations of the hand i…
Grasp Stability Analysis with Passive Reactions
Maximilian Haas-Heger
[...] We argue that the traditional grasp modeling theory assumes a complexity that most robotic hands do not possess and is therefore of limited applicability to the robotic hands…
A Continuous Teleoperation Subspace with Empirical and Algorithmic Mapping Algorithms for Non-Anthropomorphic Hands
Cassie Meeker, Maximilian Haas-Heger, Matei Ciocarlie
Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a non-anthropomorphic…
Automatic Snake Gait Generation Using Model Predictive Control
Emily Hannigan, Bing Song, Gagan Khandate +3
In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Mod…
Underactuation Design for Tendon-driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces
Tianjian Chen, Long Wang, Maximilan Haas-Heger +1
Grasp synergies represent a useful idea to reduce grasping complexity without compromising versatility. Synergies describe coordination patterns between joints, either in terms of…
Accurate Energetic Constraints for Passive Grasp Stability Analysis
Maximilian Haas-Heger, Matei Ciocarlie
Passive reaction effects in grasp stability analysis occur when the contact forces and joint torques applied by a grasp change in response to external disturbances applied to the g…
Passive Static Equilibrium with Frictional Contacts and Application to Grasp Stability Analysis
Maximilian Haas-Heger, Christos Papadimitriou, Mihalis Yannakakis +2
This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the co…
Underactuated Hand Design Using Mechanically Realizable Manifolds
Tianjian Chen, Maximilian Haas-Heger, Matei Ciocarlie
Hand synergies, or joint coordination patterns, have become an effective tool for achieving versatile robotic grasping with simple hands or planning algorithms. Here we propose a m…
Passive Reaction Analysis for Grasp Stability
Maximilian Haas-Heger, Garud Iyengar, Matei Ciocarlie
In this paper we focus on the following problem in multi-fingered robotic grasping: assuming that an external wrench is being applied to a grasped object, will the contact forces b…