5 accepted papers
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…
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…
Tactile surface sensors (TSSs) are often utilized for contact management in human robot interaction scenarios. To provide added value in these applications, online robot programming approaches may exploit TSSs as gesture input devices. To this end, we introduce an invariant, compact gesture represen…
In this paper, we show the generalization of an inverse dynamic model for KUKA LWR IV+ under load mass variations. We use a modular approach based on regression in the model space. First, inverse dynamic models for the known masses are learned using a recently proposed approach called Independent Jo…
This paper introduces a model-driven approach for engineering complex movement control architectures based on motion primitives, which in recent years have been a central development towards adaptive and flexible control of complex and compliant robots. We consider rich motor skills realized through…