Zobrazeno 1 - 10
of 25
pro vyhledávání: '"Schappler, Moritz"'
Parallel robots (PR) offer potential for human-robot collaboration (HRC) due to their lower moving masses and higher speeds. However, the parallel leg chains increase the risks of collision and clamping. In this work, these hazards are described by k
Externí odkaz:
http://arxiv.org/abs/2408.15831
Physics-informed neural networks (PINNs) are trained using physical equations and can also incorporate unmodeled effects by learning from data. PINNs for control (PINCs) of dynamical systems are gaining interest due to their prediction speed compared
Externí odkaz:
http://arxiv.org/abs/2408.14951
Autor:
Habich, Tim-Lukas, Haack, Jonas, Belhadj, Mehdi, Lehmann, Dustin, Seel, Thomas, Schappler, Moritz
Soft-robot designs are manifold, but only a few are publicly available. Often, these are only briefly described in their publications. This complicates reproduction, and hinders the reproducibility and comparability of research results. If the design
Externí odkaz:
http://arxiv.org/abs/2404.10734
In human-robot collaboration, unintentional physical contacts occur in the form of collisions and clamping, which must be detected and classified separately for a reaction. If certain collision or clamping situations are misclassified, reactions migh
Externí odkaz:
http://arxiv.org/abs/2308.09675
Parallel robots (PRs) offer the potential for safe human-robot collaboration because of their low moving masses. Due to the in-parallel kinematic chains, the risk of contact in the form of collisions and clamping at a chain increases. Ensuring safety
Externí odkaz:
http://arxiv.org/abs/2308.09656
Parallel robots (PRs) allow for higher speeds in human-robot collaboration due to their lower moving masses but are more prone to unintended contact. For a safe reaction, knowledge of the location and force of a collision is useful. A novel algorithm
Externí odkaz:
http://arxiv.org/abs/2308.09650
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg chains increa
Externí odkaz:
http://arxiv.org/abs/2308.09633
Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a promising alternative as model
Externí odkaz:
http://arxiv.org/abs/2303.01840
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees of freedo
Externí odkaz:
http://arxiv.org/abs/2303.00065
Autor:
Stuede, Marvin, Schappler, Moritz
This work presents a non-parametric spatio-temporal model for mapping human activity by mobile autonomous robots in a long-term context. Based on Variational Gaussian Process Regression, the model incorporates prior information of spatial and tempora
Externí odkaz:
http://arxiv.org/abs/2203.06911