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Christian Schumacher

4 accepted papers

2023

Optimal Design of Flexible-Link Mechanisms With Desired Load-Displacement Profiles

Guirec Maloisel, Espen Knoop, Christian Schumacher, Bernhard Thomaszewski, Moritz Bächer, Stelian Coros
RA-L 2023

Robot mechanisms that exploit compliance can perform complex tasks under uncertainty using simple control strategies, but it remains difficult to design mechanisms with a desired embodied intelligence. In this article, we propose an automated design technique that optimizes the desired load-displace

Cited by 4Source ↗Scholar ↗
2023

Transformer-Based Neural Augmentation of Robot Simulation Representations

Agon Serifi, Espen Knoop, Christian Schumacher, Naveen Kumar, Markus Gross, Moritz Bächer
RA-L 2023

Simulation representations of robots have advanced in recent years. Yet, there remain significant sim-to-real gaps because of modeling assumptions and hard-to-model behaviors such as friction. In this letter, we propose to augment common simulation representations with a transformer-inspired archite

Cited by 6Source ↗Scholar ↗
2021

A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots With Kinematic Loops

Christian Schumacher, Espen Knoop, Moritz Bächer
RA-L 2021

Robots with kinematic loops are known to have superior mechanical performance. However, due to these loops, their modeling and control is challenging, and prevents a more widespread use. In this letter, we describe a versatile Inverse Kinematics (IK) formulation for the retargeting of expressive mot

Cited by 17Source ↗Scholar ↗