Oliver Fischer — accepted AI-conference papers

2022

Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators

Amirhossein Kazemipour, Oliver Fischer, Yasunori Toshimitsu, Ki Wan Wong, Robert K. Katzschmann

ICRA 2022poster

Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based control scheme for soft continuum robots. Our dynamic model is ba…

Cited by 23 Source ↗Scholar ↗

2022

Prismatic Soft Actuator Augments the Workspace of Soft Continuum Robots

Philipp Wand, Oliver Fischer, Robert K. Katzschmann

IROS 2022poster

Soft robots are promising for manipulation tasks thanks to their compliance, safety, and high degree of freedom. However, the commonly used bidirectional continuum segment design means soft robotic manipulators only function in a limited hemispherical workspace. This work increases a soft robotic ar…

Cited by 5 Source ↗Scholar ↗