Martin Huber — accepted AI-conference papers

2025

Uncertainty-Aware Shared Control for Vision-Based Micromanipulation

Huanyu Tian, Martin Huber, Lingyun Zeng, Zhe Han, Wayne Bennett, Giuseppe Silvestri +3

IROS 2025

This paper presents an uncertainty-aware shared control and calibration method for micromanipulation using a digital microscope and a tool-mounted, multi-joint robotic arm, integrating real-time human intervention with a visual-motor policy. Our calibration algorithm leverages co-manipulation contro

Cited by 2 Source ↗Scholar ↗

2024

Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System

Huanyu Tian, Martin Huber, Christopher E. Mower, Zhe Han, Changsheng Li, Xingguang Duan +1

ICRA 2024poster

This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avoidance. This addresses the system identification challenges for getting high-quality training data associated with co-ma…

Cited by 4 Source ↗Scholar ↗