Tim-Lukas Habich

Tim-Lukas Habich
Leibniz Universität Hannover · Institute of Mechatronic Systems

Master of Science

About

5
Publications
471
Reads
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4
Citations
Citations since 2016
5 Research Items
4 Citations
20162017201820192020202120220.00.51.01.52.02.53.0
20162017201820192020202120220.00.51.01.52.02.53.0
20162017201820192020202120220.00.51.01.52.02.53.0
20162017201820192020202120220.00.51.01.52.02.53.0

Publications

Publications (5)
Preprint
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...
Preprint
Full-text available
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...
Preprint
Full-text available
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...

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