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Browsing Fakultät für Maschinenbau by Author "4e4dbb7b-c443-48f2-886f-9494aa88c306"

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Have I been here before? Learning to Close the Loop with LiDAR Data in Graph-Based SLAM

Habich, Tim-Lukas; Stuede, Marvin; Labbé, Mathieu; Spindeldreier, Svenja (Piscataway, NJ : IEEE, 2021-08-24)

This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compact global descriptor, whereby a trained ...
Intuitive Telemanipulation of Hyper-Redundant Snake Robots within Locomotion and Reorientation using Task-Priority Inverse Kinematics

Habich, Tim-Lukas; Hueter, Melvin; Schappler, Moritz; Spindeldreier, Svenja (Piscataway, NJ : IEEE, 2023-07-04)

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 ...
Learning-based Position and Stiffness Feedforward Control of Antagonistic Soft Pneumatic Actuators using Gaussian Processes

Habich, Tim-Lukas; Kleinjohann, Sarah; Schappler, Moritz (Piscataway, NJ : IEEE, 2023-05-15)

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 ...
Online Learning of the Inverse Dynamics with Parallel Drifting Gaussian Processes: Implementation of an Approach for Feedforward Control of a Parallel Kinematic Industrial Robot

Habich, Tim-Lukas; Kaczor, Daniel; Tappe, Svenja; Ortmaier, Tobias (Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers Inc., 2019-08-29)

The present paper deals with an online approach to learn the inverse dynamics of any robot. This is realized by the use of Gaussian Processes drifting parallel along the system data. An extension by a database enables the ...

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Browsing Fakultät für Maschinenbau by Author "4e4dbb7b-c443-48f2-886f-9494aa88c306"

Browsing Fakultät für Maschinenbau by Author "4e4dbb7b-c443-48f2-886f-9494aa88c306"

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