15 accepted papers
The emerging integration of robots into everyday life brings several major challenges. Compared to classical industrial applications, more flexibility is needed in combination with real-time reactivity. Learning-based methods can train powerful policies based on demonstrated trajectories, such that …
Online trajectory planning enables robot manipulators to react quickly to changing environments or tasks. Many robot trajectory planners exist for known environments but are often too slow for online computations. Current methods in online trajectory planning do not find suitable trajectories in cha
Human-robot interaction requires robots to process language incrementally, adapting their actions in real-time based on evolving speech input. Existing approaches to language-guided robot motion planning typically assume fully specified instructions, resulting in inefficient stop-and-replan behavior
Forestry machines operated in forest production environments face challenges when performing manipulation tasks, especially regarding the complicated dynamics of underactuated crane systems and the heavy weight of logs to be grasped. This study investigates the feasibility of using reinforcement lea
In this paper, a numerically efficient flexible control scheme for the absolute accuracy of industrial robots is presented and experimentally validated. A model-based controller that leverages all typically available parameters is combined with an online path iterative learning controller (ILC). The…
Language-based robot control is a powerful and versatile method to control a robot manipulator where large language models (LLMs) are used to reason about the environment. However, the generated robot motions by these controllers often lack safety and performance, resulting in jerky movements. In th…
Systematically including dynamically changing waypoints as desired discrete actions, for instance, resulting from Systematically including dynamically changing waypoints as desired discrete actions, for instance, resulting from superordinate task planning, has been challenging for online model predi
Learning from demonstration (LfD) has emerged as a promising approach enabling robots to acquire complex tasks directly from human demonstrations. However, tasks involving surface interactions on freeform 3D surfaces present unique challenges in modeling and execution, especially when geometric vari…
This work proposes a highly parallelized optimization scheme to simultaneously optimize the robot base and tool center point (TCP) placement within a robotic work cell for a sequence of pick-and-place tasks. The placement is optimized for minimum cycle time by considering the scenario holistically,…
Automatic visual quality inspection is pivotal in both computer vision and robotics. It plays a crucial role in manufacturing, where robotic systems are increasingly employed to enhance the speed and efficiency of visual quality assessments. Several inspection planning methodologies have been develo…
We present an inflatable finger pad that allows regular parallel-jaw grippers to vary their grasp stiffness while maintaining a contact force and contact to non-planar surfaces. An eversible radial bellows structure made of silicone rubber allows the pad to extend to four times its original height a…
Robots need to be as simple to use as tools in a workshop and allow non-experts to program, modify and execute tasks. In particular for repetitive tasks in high-mix/low-volume production, robotic support and physical human-robot interaction (pHRI) help to significantly increase productivity. In path…
In this paper, the experimental swing-up of a spherical pendulum mounted on a collaborative robot is presented. The complete mechanical system consists of nine degrees of freedom (DoFs). The primary focus of this work is the design of a fast trajectory planning for the swing-up by systematically inc…
The robot base placement of an industrial robot in flexible production lines is crucial due to the limited workspace of robots, in particular for complex continuous paths that change frequently. Costly and time-consuming repositioning of the robot can be avoided by merely adapting the tool center po…
This paper presents a path planning concept for trucks with trailers with kingpin hitching. This system is nonholonomic, has no flat output and is not stable in backwards driving direction. These properties are major challenges for path planning. The presented approach concentrates on the loading ba…