Lion-Constantin Weber — accepted AI-conference papers

2026

Acoustic Sensing for Universal Jamming Grippers

Lion-Constantin Weber, Theodor Marius Wienert, Martin Splettstößer, Alexander Koenig, Oliver Brock

ICRA 2026poster

Universal jamming grippers excel at grasping unknown objects due to their compliant bodies. Traditional tactile sensors can compromise this compliance, reducing grasping performance. We present acoustic sensing as a form of morphological sensing, where the gripper's soft body itself becomes the sens…

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2024

Programming Passive Fingertip Deformation for Improved Grasping and Manipulation

Steffen Puhlmann, Lion-Constantin Weber, Hannes Höppner

IROS 2024poster

Soft robots exhibit complex behaviors despite simple control, due to their inherently compliant hardware which passively deforms upon contact ± a concept commonly referred to as morphological computation. To fully determine the behavior of soft robots, not only their control software but also their…

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