Christoph Eyberg — accepted AI-conference papers

2026

Local Linearized Cosserat Rod Model for Contact Force Estimation in Flexible Medical Instruments and Continuum Robots

Christoph Eyberg, Johannes Horsch, Thomas Bauernhansl, Jens Langejürgen

ICRA 2026poster

Knowledge of instrument contact forces can lead to safer medical interventions. We present a formulation of the frequently used Cosserat rod model that is linearized around the measured shape for efficient model-based contact force estimation in flexible instruments and robots. Validation on instrum…

Cited by 0 Scholar ↗

2021

Sampling-based Inverse Reinforcement Learning Algorithms with Safety Constraints

Johannes Fischer, Christoph Eyberg, Moritz Werling, Martin Lauer

IROS 2021poster

Planning for robotic systems is frequently formulated as an optimization problem. Instead of manually tweaking the parameters of the cost function, they can be learned from human demonstrations by Inverse Reinforcement Learning (IRL). Common IRL approaches employ a maximum entropy trajectory distrib…

Cited by 16 Source ↗Scholar ↗