Stefan Scherzinger — accepted AI-conference papers

2019

Contact Skill Imitation Learning for Robot-Independent Assembly Programming

Stefan Scherzinger, Arne Roennau, Rüdiger Dillmann

IROS 2019poster

Robotic automation is a key driver for the advancement of technology. The skills of human workers, however, are difficult to program and seem currently unmatched by technical systems. In this work we present a data-driven approach to extract and learn robot-independent contact skills from human demo…

Cited by 41 Source ↗Scholar ↗

2017

Forward Dynamics Compliance Control (FDCC): A new approach to cartesian compliance for robotic manipulators

Stefan Scherzinger, Arne Roennau, Rüdiger Dillmann

IROS 2017poster

Compliant end effectors in robotics are an important prerequisite for the field of object manipulation and environment interactions. However, current manipulators are usually stiff position-controlled systems, generating the need to add compliance. In this work, we present Forward Dynamics Complianc…

Cited by 76 Source ↗Scholar ↗