Björn Matthias — accepted AI-conference papers

2016

Improving contact force estimation accuracy by optimal redundancy resolution

Arne Wahrburg, Anders Robertsson, Björn Matthias, Fan Dai, Hao Ding

IROS 2016poster

Estimating Cartesian contact forces and torques enables external force supervision for robotic manipulators and even force-controlled applications while avoiding the need for additional external sensing. Redundant manipulators facilitate the problem of Cartesian contact force and torque estimation (…

Cited by 15 Source ↗Scholar ↗

2015

Combined pose-wrench and state machine representation for modeling Robotic Assembly Skills

Arne Wahrburg, Stefan Zeiss, Björn Matthias, Jan Peters, Hao Ding

IROS 2015poster

A new Robotic Assembly Skill (RAS) modeling framework is proposed. An assembly skill is a primitive that encapsulates the capabilities to coordinate, control and supervise an elementary robot task. To gain reusability of a primitive in alike robot tasks, the primitives are represented as generic tem…

Cited by 24 Source ↗Scholar ↗