7 accepted papers
Parallel robots (PRs) allow for higher speeds in human-robot collaboration due to their lower moving masses but are more prone to unintended contact. For a safe reaction, knowledge of the location and force of a collision is useful. A novel algorithm for collision isolation and identification with p…
Parallel robots (PRs) offer the potential for safe human-robot collaboration because of their low moving masses. Due to the in-parallel kinematic chains, the risk of contact in the form of collisions and clamping at a chain increases. Ensuring safety is investigated in this work through various cont…
Parallel robots provide the potential to be lever-aged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg chains increases compared to the structure of serial robots. A…
This work presents a semantic map management approach for various environments by triggering multiple maps with different simultaneous localization and mapping (SLAM) configurations. A modular map structure allows to add, modify or delete maps without influencing other maps of different areas. The h…
In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions fo
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…
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…