Dominik Kaserer — accepted AI-conference papers

2020

Time Optimal Motion Planning and Admittance Control for Cooperative Grasping

Dominik Kaserer, Hubert Gattringer, Andreas Müller

RA-L 2020

Cooperative grasping refers to the situation when an object is manipulated by multiple robots and the grasp is achieved by the unilateral contact between the robots and the object. This is different from the cooperation of multiple robots where each robot rigidly grasps the object. Motion planning o

Cited by 27 Source ↗Scholar ↗

2018

Online Robot-Object Synchronization With Geometric Constraints and Limits on Velocity, Acceleration, and Jerk

Dominik Kaserer, Hubert Gattringer, Andreas Müller

RA-L 2018

This letter presents a new approach to online synchronization of a robot to the motion of an object. This is done by an iterative trajectory planning approach. Trajectory planning is divided into geometric path planning and subsequent time optimal parameterization of the geometric path. The geometri

Cited by 5 Source ↗Scholar ↗