Sebastian Erhart

2 accepted papers

2015

Dynamic load distribution in cooperative manipulation tasks

Andrea Zambelli Bais, Sebastian Erhart, Luca Zaccarian, Sandra Hirche

IROS 2015poster

In cooperative manipulation tasks, load allocation is a crucial step in order to solve the intrinsic redundancy of the system. The desired wrench needs to be suitably distributed between the end-effectors to implement the desired motion of the manipulated object. In this framework, both the grasp ki…

Cited by 45 Source ↗Scholar ↗

2015

Grasp pose estimation in human-robot manipulation tasks using wearable motion sensors

Denis Ćehajić, Sebastian Erhart, Sandra Hirche

IROS 2015poster

Knowledge of the human grasp pose is crucial in common control schemes for human-robot object manipulation tasks. Biased estimates of the grasp pose cause undesired interaction wrenches on the human partner, which disturbs the interaction and the recognition of motion intention. A use of wearable mo…

Cited by 20 Source ↗Scholar ↗