Zobrazeno 1 - 10
of 727
pro vyhledávání: '"Albu-Schäffer A"'
Impedance-controlled robots are widely used on Earth to perform interaction-rich tasks and will be a key enabler for In-Space Servicing, Assembly and Manufacturing (ISAM) activities. This paper introduces the software architecture used on the On-Boar
Externí odkaz:
http://arxiv.org/abs/2409.17562
The problem of generalization in learning from demonstration (LfD) has received considerable attention over the years, particularly within the context of movement primitives, where a number of approaches have emerged. Recently, two important approach
Externí odkaz:
http://arxiv.org/abs/2409.05655
Autor:
Sachtler, Arne, Calzolari, Davide, Raff, Maximilian, Schmidt, Annika, Wotte, Yannik P., Della Santina, Cosimo, Remy, C. David, Albu-Schäffer, Alin
Publikováno v:
2024 European Control Conference (ECC), Stockholm, Sweden, 2024, pp. 2392-2398
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 unstable upright position as energy increases. This result is exploited
Externí odkaz:
http://arxiv.org/abs/2404.08478
Autor:
Pustina, Pietro, Calzolari, Davide, Albu-Schäffer, Alin, De Luca, Alessandro, Della Santina, Cosimo
Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of control-oriented reduce
Externí odkaz:
http://arxiv.org/abs/2402.07038
Autor:
Leutert, Florian, Bohlig, David, Kempf, Florian, Schilling, Klaus, Mühlbauer, Maximilian, Ayan, Bengisu, Hulin, Thomas, Stulp, Freek, Albu-Schäffer, Alin, Kutscher, Vladimir, Plesker, Christian, Dasbach, Thomas, Damm, Stephan, Anderl, Reiner, Schleich, Benjamin
Publikováno v:
Acta Astronautica (2024), vol. 217, page 1-17
With the ever increasing number of active satellites in space, the rising demand for larger formations of small satellites and the commercialization of the space industry (so-called New Space), the realization of manufacturing processes in orbit come
Externí odkaz:
http://arxiv.org/abs/2401.17799
Autor:
Dyck, Michael, Weld, Alistair, Klodmann, Julian, Kirst, Alexander, Dixon, Luke, Anichini, Giulio, Camp, Sophie, Albu-Schäffer, Alin, Giannarou, Stamatia
Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this paper, we i
Externí odkaz:
http://arxiv.org/abs/2312.08409
Autor:
Scholl, Philipp, Iskandar, Maged, Wolf, Sebastian, Lee, Jinoh, Bacho, Aras, Dietrich, Alexander, Albu-Schäffer, Alin, Kutyniok, Gitta
In the Fourth Industrial Revolution, wherein artificial intelligence and the automation of machines occupy a central role, the deployment of robots is indispensable. However, the manufacturing process using robots, especially in collaboration with hu
Externí odkaz:
http://arxiv.org/abs/2310.16688
Autor:
Adam, Michael G., Eger, Sebastian, Piccolrovazzi, Martin, Iskandar, Maged, Vogel, Joern, Dietrich, Alexander, Bien, Seongjien, Skerlj, Jon, Naceri, Abdeldjallil, Steinbach, Eckehard, Albu-Schaeffer, Alin, Haddadin, Sami, Burgard, Wolfram
As labor shortage increases in the health sector, the demand for assistive robotics grows. However, the needed test data to develop those robots is scarce, especially for the application of active 3D object detection, where no real data exists at all
Externí odkaz:
http://arxiv.org/abs/2310.05600
Autor:
Raffin, Antonin, Sigaud, Olivier, Kober, Jens, Albu-Schäffer, Alin, Silvério, João, Stulp, Freek
In search of a simple baseline for Deep Reinforcement Learning in locomotion tasks, we propose a model-free open-loop strategy. By leveraging prior knowledge and the elegance of simple oscillators to generate periodic joint motions, it achieves respe
Externí odkaz:
http://arxiv.org/abs/2310.05808
Autor:
Dyck, Michael, Weld, Alistair, Klodmann, Julian, Kirst, Alexander, Anichini, Giulio, Dixon, Luke, Camp, Sophie, Giannarou, Stamatia, Albu-Schäffer, Alin
Publikováno v:
2023 ICRA-RAMI workshop
During brain tumour resection, localising cancerous tissue and delineating healthy and pathological borders is challenging, even for experienced neurosurgeons and neuroradiologists. Intraoperative imaging is commonly employed for determining and upda
Externí odkaz:
http://arxiv.org/abs/2304.01027