Zobrazeno 1 - 10
of 32
pro vyhledávání: '"Johanna Bethge"'
Publikováno v:
IEEE Transactions on Control Systems Technology. :1-13
Many robotic tasks, such as human-robot interactions or the handling of fragile objects, require tight control and limitation of appearing forces and moments alongside sensible motion control to achieve safe yet high-performance operation. We propose
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e2f54149b61086fdbc31dad8a6758b34
https://doi.org/10.1109/tcst.2023.3262987
https://doi.org/10.1109/tcst.2023.3262987
Publikováno v:
IFAC-PapersOnLine. 54:329-334
Often, systems need to adapt their behavior to other systems in their surroundings while obeying constraints to achieve good performance or due to safety reasons. We consider repetitive applications, where the reference for the controller stems from
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::36133a769110a8da6d756f8784d170dc
https://doi.org/10.1016/j.ifacol.2021.08.565
https://doi.org/10.1016/j.ifacol.2021.08.565
Publikováno v:
IFAC-PapersOnLine. 53:14356-14362
Safe autonomous passing of intersections with mixed traffic, including human drivers and autonomous vehicles, is challenging. We propose a tailored approach that provides guarantees despite uncertainties fusing learned models and model predictive con
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::2309c405f7badc69c285b55df289274c
https://doi.org/10.1016/j.ifacol.2020.12.1387
https://doi.org/10.1016/j.ifacol.2020.12.1387
Autor:
Johanna Bethge, Rolf Findeisen, Do Duc Le, Maximilian Merkert, Sebastian Sager, Anton Savchenko, Hannes Rewald
Publikováno v:
Mathematics in Industry ISBN: 9783030814540
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::10c13a67ecc397b50bf31ff318c58f98
https://doi.org/10.1007/978-3-030-81455-7_19
https://doi.org/10.1007/978-3-030-81455-7_19
Publikováno v:
IFAC-PapersOnLine. 51:517-522
Many systems exhibit multiple modes of operation, where the real mode is not known a priori. Examples are the grasping of objects by a robot, where a variety of object forms and stiffnesses are possible, or a quadcopter lifting and dropping several o
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::81f46b08d133cfff0e75c9df7c0b7d0e
https://doi.org/10.1016/j.ifacol.2018.11.037
https://doi.org/10.1016/j.ifacol.2018.11.037
Publikováno v:
IFAC-PapersOnLine. 50:9827-9832
In many robotic applications, a predefined path must be followed while maintaining contact with a surface or applying a given force. If size, position, or flexibility of the surface are not known precisely, pure position tracking control of the robot
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::58f0ba9940d57d0684c8bc534d5dc692
https://doi.org/10.1016/j.ifacol.2017.08.898
https://doi.org/10.1016/j.ifacol.2017.08.898
Publikováno v:
ACC
Many manipulation tasks require precise following of a path while ensuring a desired contact force. Several approaches have been proposed for this task, spanning from impedance control with trajectory tracking, to direct force control based on nonlin
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e22712ef7b658b4e9bbc769489e4193d
https://doi.org/10.23919/acc.2018.8431272
https://doi.org/10.23919/acc.2018.8431272