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Citations since 2016
5 Research Items
This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compact global descriptor, whereby a trained detector decides whether a loop exists. Searching for loops is performed locally in a variable space to consider the odometry drif...
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear anatomical paths. Telemanipulation is an open problem due to hyper-redundancy, as haptic input devices only allow a specification of a maximum of six degrees of freedom. Our work addresses this by presenting a unified telemanipulation s...
Variable stiffness actuator (VSA) designs are manifold. Conventional model-based control of these nonlinear systems is associated with high effort and design-dependent assumptions. In contrast, machine learning offers a promising alternative as models are trained on real measured data and nonlinearities are inherently taken into account. Our work p...