Svenja Tappe — accepted AI-conference papers

2019

Door opening and traversal with an industrial cartesian impedance controlled mobile robot

Marvin Stuede, Kathrin Nuelle, Svenja Tappe, Tobias Ortmaier

ICRA 2019poster

This paper presents a holistic approach for door opening with a cartesian impedance controlled mobile robot, a KUICA KMR iiwa. Based on a given map of the environment, the robot autonomously detects the door handle, opens doors and traverses doorways without knowledge of a door model or the door's g…

Cited by 40 Source ↗Scholar ↗

2015

Towards a follow-the-leader control for a binary actuated hyper-redundant manipulator

Svenja Tappe, Jan Pohlmann, Jens Kotlarski, Tobias Ortmaier

IROS 2015poster

A typical instrument for different tasks in minimally invasive surgery is a flexible endoscope. To overcome the problem of restricted motion of today's systems, a hyper-redundant active shaft concept is developed. It features good resistance with respect to manipulation forces through its unique bin…

Cited by 33 Source ↗Scholar ↗