A5036337125- Soft Robotics and Applications
- Robot Manipulation and Learning
- Teleoperation and Haptic Systems
- 3D Surveying and Cultural Heritage
- Augmented Reality Applications
- Robotic Mechanisms and Dynamics
- Advanced Surface Polishing Techniques
- Modular Robots and Swarm Intelligence
- Space Satellite Systems and Control
- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Advanced Sensor and Energy Harvesting Materials
- Spatial Cognition and Navigation
Leibniz University Hannover
2015-2024
In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at triangular end-effector platform and include tendon-actuated segments. The kinematics the resulting structure derived by adapting descriptions for conventional manipulators to constant curvature bending utilized continuous To account friction non-linear material effects, data-driven model used relate tendon displacements A calibration conducted specifically...
Abstract The use of continuous and flexible structures instead rigid links discrete joints is a growing field robotics research. Recent work focuses on the inclusion segments in parallel robots to benefit from their structural advantages, such as high dexterity compliance. While some applications designs these novel continuum have been presented, remains largely unexplored. Furthermore, an exact quantification kinematic advantages disadvantages when using yet be performed. In this paper,...
This paper presents a holistic approach for door opening with cartesian impedance controlled mobile robot, KUICA KMR iiwa. Based on given map of the environment, robot autonomously detects handle, opens doors and traverses doorways without knowledge model or door's geometry. The handle detection uses convolutional neural network (CNN)-based architecture to obtain handle's bounding box in RGB image that works robustly various shapes colors. We achieve rate 100% an evaluation set 38 different...
This work presents a semantic map management approach for various environments by triggering multiple maps with different simultaneous localization and mapping (SLAM) configurations. A modular structure allows to add, modify or delete without influencing other of areas. The hierarchy level our algorithm is above the utilized SLAM method. Evaluating laser scan data (e.g. detection passing doorway) triggers new map, automatically choosing appropriate configuration from manually predefined...
The ability to sense tactile feedback is important for many robotic grasping and manipulating tasks. However, common force sensors are expensive. Therefore, we investigate various measuring principles review existing sensor concepts mobile applications. results lead a concept of low-cost, two-finger manipulator with sensing using embedded hall in flexible material. gripper produced by rapid prototyping. A calibration method presented. Furthermore, evaluate present the idle state, local...