Arne-Christoph Hildebrandt — accepted AI-conference papers

2024

Enhanced Robotic Assistance for Human Activities through Human-Object Interaction Segment Prediction

Yuankai Wu, Rayene Messaoud, Arne-Christoph Hildebrandt, Marco Baldini, Driton Salihu, Constantin Patsch +1

IROS 2024poster

Robotic assistance is a current research topic with high application value and multiple challenges. Assistive robots are used in various scenarios, such as production lines, operating tables, and elderly care. While providing effective assistance, most of the assistance tasks that current robots can…

Cited by 0 Source ↗Scholar ↗

2018

Human-Robot Cooperative Object Manipulation with Contact Changes

Michael Gienger, Dirk Ruiken, Tamas Bates, Mohamed Regaieg, Michael MeiBner, Jens Kober +2

IROS 2018poster

This paper presents a system for cooperatively manipulating large objects between a human and a robot. This physical interaction system is designed to handle, transport, or manipulate large objects of different shapes in cooperation with a human. Unique points are the bi-manual physical cooperation,…

Cited by 31 Source ↗Scholar ↗

2017

Real-Time Path Planning in Unknown Environments for Bipedal Robots

Arne-Christoph Hildebrandt, Moritz Klischat, Daniel Wahrmann, Robert Wittmann, Felix Sygulla, Philipp Seiwald +2

RA-L 2017

Autonomous navigation in dynamic and unknown environments requires real-time path planning. Solving the path planning problem for bipedal locomotion quickly and robustly is one of the main challenges in making humanoid robots competitive against mobile platforms. In this letter, we propose strategie

Cited by 40 Source ↗Scholar ↗

2016

Real-time predictive kinematic evaluation and optimization for biped robots

Arne-Christoph Hildebrandt, Manuel Demmeler, Robert Wittmann, Daniel Wahrmann, Felix Sygulla, Daniel Rixen +1

IROS 2016

Collision-free walking in cluttered environments is still an open issue for humanoids. Most current approaches use heuristics with large safety margins to plan the robot's motion. That way, the chance of collisions can be greatly reduced but the robot movements are artificially limited. In this cont

Cited by 11 Source ↗Scholar ↗

2015

Real-time pattern generation among obstacles for biped robots

Arne-Christoph Hildebrandt, Daniel Wahrmann, Robert Wittmann, Daniel Rixen, Thomas Buschmann

IROS 2015poster

In this paper we present a step-planner embedded in a framework which enables a humanoid robot to navigate among obstacles, exploiting its overall capacities. The system allows the robot to react to changes of user input or changes in a dynamic environment in real-time while walking at reasonable sp…

Cited by 24 Source ↗Scholar ↗

2015

State estimation for biped robots using multibody dynamics

Robert Wittmann, Arne-Christoph Hildebrandt, Daniel Wahrmann, Daniel Rixen, Thomas Buschmann

IROS 2015poster

This paper introduces a new state estimator for biped robots fusing encoder, inertial and force torque measurements. The estimator is implemented as a Kalman filter that uses the dynamical model of the linear inverted pendulum with the center of mass (CoM) state as output. In order to compensate for…

Cited by 23 Source ↗Scholar ↗