Oliver Porges — accepted AI-conference papers

2016

Multi-contact planning and control for a torque-controlled humanoid robot

Alexander Werner, Bernd Henze, Diego A. Rodriguez, Jonathan Gabaret, Oliver Porges, Máximo A. Roa

IROS 2016poster

Humanoid robots that need to traverse constrained and uncertain environments require a suitable combination of perception, planning and control. This paper presents an integrated pipeline that allows the robot to autonomously acquire visual information, define step locations, compute feasible multi-…

Cited by 29 Source ↗Scholar ↗

2015

The OOS-SIM: An on-ground simulation facility for on-orbit servicing robotic operations

Jordi Artigas, Marco De Stefano, Wolfgang Rackl, Roberto Lampariello, Bernhard Brunner, Wieland Bertleff +5

ICRA 2015poster

On-orbit servicing involves a new class of space missions in which a servicer spacecraft is launched into the orbit of a target spacecraft, the client. The servicer navigates to the client with the intention of manipulating it, using a robotic arm. Within this framework, this work presents a new rob…

Cited by 112 Source ↗Scholar ↗