Heiko Donat

2 accepted papers

2023

Data-Driven Estimation of Forces Along the Backbone of Concentric Tube Continuum Robots

Heiko Donat, Pouya Mohammadi, Jochen Steil

ICRA 2023poster

Concentric tube continuum robots (CTCRs) belong to the family of continuum robots with applications in minimally invasive surgeries. Because of this application domain, measuring the external forces along the body of the robot is paramount. CTCRs are made up of thin elastic rods and are intended to…

Cited by 0 Source ↗Scholar ↗

2020

Hierarchical Interest-Driven Goal Babbling for Efficient Bootstrapping of Sensorimotor skills

Rania Rayyes, Heiko Donat, Jochen Steil

ICRA 2020poster

We propose a novel hierarchical online learning scheme for fast and efficient bootstrapping of sensorimotor skills. Our scheme permits rapid data-driven robot model learning in a "learning while behaving" fashion. It is updated continuously to adapt to time-dependent changes and driven by an intrins…

Cited by 6 Source ↗Scholar ↗