Jonas Wittmann
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Centralized vs. Decoupled Dual-arm Planning Taking into Account Path Quality Open
The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning appr…
Centralized vs. Decoupled Dual-Arm Planning Taking into Account Path Quality Open
The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning appr…
Energy-Aware Hierarchical Control of Joint Velocities Open
Nowadays, robots are applied in dynamic environments. For a robust operation, the motion planning module must consider other tasks besides reaching a specified pose: (self) collision avoidance, joint limit avoidance, keeping an advantageou…
Spherical Cubic Blends: $\mathcal{C}^{2}$-Continuous, Zero-Clamped, and Time-Optimized Interpolation of Quaternions Open
Modern collaborative robotic applications require robot motions that are predictable for human coworkers. Therefore, trajectories often need to be planned in task space rather than configuration space ( $\mathcal{C}$ -space). While the int…
Real-Time Predictive Kinematics Control of Redundancy: a Benchmark of Optimal Control Approaches Open
Modern collaborative manipulators operate in unknown environments and share the work space with human coworkers. To ensure flexibility, their kinematic design is redundant which increases the solution space of the inverse kinematics (IK). …
Robotic Framework for Autonomous Assembly: a Report from the Robothon 2021 Grand Challenge Open
Up to now, many repetitive industrial processes, like welding in automotive, have been automated. However, robust solutions for assembly operations that, besides precise robot positioning, also require precise tactile interaction are not a…
Time-Optimization of Trajectories Using Zero-Clamped Cubic Splines and Their Analytical Gradients Open
Modern flexible production systems benefit from collaborative robot systems that support to teach robot configurations by hand to quickly implement collision-free motions. However, appropriate interpolation schemes that allow a fast and sm…
Towards Remote Robotic Competitions: An Internet-Connected Task Board and Dashboard Open
In this work we present a platform to assess robot platform skills using an internet-of-things (IoT) task board device to aggregate performances across remote sites. We demonstrate a concept for a modular, scale-able device and web dashboa…
Hierarchical Motion Planning Framework for Manipulators in Human-Centered Dynamic Environments Open
Collaborating robots face rising challenges with respect to autonomy and safety as they are deployed in flexible automation applications. The ability to perform the required tasks in the presence of humans and obstacles is key for the inte…