Lars Johannsmeier
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View article: A process-centric manipulation taxonomy for the organization, classification and synthesis of tactile robot skills
A process-centric manipulation taxonomy for the organization, classification and synthesis of tactile robot skills Open
Despite decades of research in robotic manipulation, only a few autonomous manipulation skills are currently used. Traditional and machine-learning-based end-to-end solutions have shown substantial progress but still struggle to generate r…
View article: A Scalable Platform for Robot Learning and Physical Skill Data Collection
A Scalable Platform for Robot Learning and Physical Skill Data Collection Open
View article: Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics Open
The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct multiple consecutive tasks. For this reason, several roboti…
View article: Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study
Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study Open
The current crisis surrounding the COVID-19 pandemic demonstrates the amount of responsibility and the workload on our healthcare system and, above all, on the medical staff around the world. In this work, we propose a promising approach t…
View article: Table of Contents
Table of Contents Open
View article: A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control
A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control Open
In this paper we introduce a novel framework for expressing and learning force-sensitive robot manipulation skills. It is based on a formalism that extends our previous work on adaptive impedance control with meta parameter learning and co…
View article: roboterfabrik : A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands
roboterfabrik : A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands Open
View article: A Framework for Robot Manipulation: Skill Formalism, Meta Learning and\n Adaptive Control
A Framework for Robot Manipulation: Skill Formalism, Meta Learning and\n Adaptive Control Open
In this paper we introduce a novel framework for expressing and learning\nforce-sensitive robot manipulation skills. It is based on a formalism that\nextends our previous work on adaptive impedance control with meta parameter\nlearning and…
View article: A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes
A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes Open
In this paper we propose a framework for task allocation in human-robot collaborative assembly planning. Our framework distinguishes between two main layers of abstraction and allocation. In the higher layer we use an abstract world model,…
View article: A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes
A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes Open
In this letter, we propose a framework for task allocation in human-robot collaborative assembly planning. Our framework distinguishes between two main layers of abstraction and allocation. In the higher layer, we use an abstract world mod…
View article: Teleoperated Semi-Autonomous Control of the LWR and a Humanoid Hand via the Myo Armband
Teleoperated Semi-Autonomous Control of the LWR and a Humanoid Hand via the Myo Armband Open
View article: A framework for task allocation in collaborative industrial assembly processes
A framework for task allocation in collaborative industrial assembly processes Open