Marcel Radke

2 accepted papers

2022

Towards High-Payload Admittance Control for Manual Guidance With Environmental Contact

Kevin Haninger, Marcel Radke, Axel Vick, Jörg Krüger

RA-L 2022

Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and collision response can achieve free-space stability and acceptable peak contact force o

Cited by 32 Source ↗Scholar ↗

2016

Mass control of pneumatic soft continuum actuators with commodity components

Raphael Deimel, Marcel Radke, Oliver Brock

IROS 2016poster

Soft pneumatic hands offer the advantage of intrinsic mechanical compliance. We argue that to fully leverage the compliance available in soft pneumatic actuators, they should be controlled using air mass rather than position or force, as is customary in most research in soft robotics. We propose an…

Cited by 27 Source ↗Scholar ↗