Guido Herrmann — accepted AI-conference papers

2024

Dynamics-Based Trajectory Planning for Vibration Suppression of a Flexible Long-Reach Robotic Manipulator System

Anthony Siming Chen, Erwin Jose Lopez Pulgarin, Guido Herrmann, Alexander Lanzon, Joaquin Carrasco, Barry Lennox +4

IROS 2024poster

We address the unique challenge of vibration suppression for a flexible long-reach robotic manipulator system, namely, the through-wall deployment (TWD) system that is used in nuclear environments. This paper proposes a novel dynamics-based trajectory optimization approach, which minimizes both the…

Cited by 0 Source ↗Scholar ↗

2023

Sim-and-Real Reinforcement Learning for Manipulation: A Consensus-based Approach

Wenxing Liu, Hanlin Niu, Wei Pan, Guido Herrmann, Joaquin Carrasco

ICRA 2023poster

Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow con-vergence to the optimal policy, nor effective, i.e., sizeable real-world robot data. Given limited time and hardware budge…

Cited by 9 Source ↗Scholar ↗

2018

Drivers' Manoeuvre Prediction for Safe HRI

Erwin Jose Lopez Pulgarin, Guido Herrmann, Ute Leonards

IROS 2018poster

Machines with high levels of autonomy such as robots and our growing need to interact with them creates challenges to ensure safe operation. The recent interest to create autonomous vehicles through the integration of control and decision-making systems makes such vehicles robots too. We therefore a…

Cited by 6 Source ↗Scholar ↗

2015

Adaptive neural network Dynamic Surface Control: An evaluation on the musculoskeletal robot Anthrob

Michael Jäntsch, Steffen Wittmeier, Konstantinos Dalamagkidis, Guido Herrmann, Alois Knoll

ICRA 2015poster

The soft robotics approach is widely considered to enable robots in the near future to leave their cages and move freely in our modern homes and manufacturing sites. Musculoskeletal robots are such soft robots which feature passively compliant actuation, while leveraging the advantages of tendon-dri…

Cited by 14 Source ↗Scholar ↗