Now showing items 1-4 of 4

    • General robot kinematics decomposition without intermediate markers 

      Ulbrich, Stefan; Ruiz de Angulo García, Vicente; Asfour, Tamim; Torras, Carme; Dillmann, Rüdiger (2012)
      Article
      Open Access
      The calibration of serial manipulators with high numbers of degrees of freedom by means of machine learning is a complex and time-consuming task. With the help of a simple strategy, this complexity can be drastically ...
    • Kinematic Bézier maps 

      Ulbrich, Stefan; Ruiz de Angulo García, Vicente; Torras, Carme; Asfour, Tamim; Dillmann, Rudiger (2012)
      Article
      Open Access
      The kinematics of a robot with many degrees of freedom is a very complex function. Learning this function for a large workspace with a good precision requires a huge number of training samples, i.e., robot movements. In ...
    • Object-action complexes: grounded abstractions of sensory-motor processes 

      Krüger, Norbert; Geib, Cristopher; Piater, Justus; Petrick, Ronald; Steedman, Mark; Wörgötter, Florentin; Ude, Ales; Asfour, Tamim; Kraft, Dirk; Omrcen, Damir; Agostini, Alejandro Gabriel; Dillmann, Rudiger (2011)
      Article
      Open Access
      This paper formalises Object-Action Complexes (OACs) as a basis for symbolic representations of sensorimotor experience and behaviours. OACs are designed to capture the interaction between objects and associated actions in ...
    • The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm 

      Borràs Sol, Júlia; Heudorfer, Raphael; Rader, Samuel; Asfour, Tamim (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Conference report
      Open Access
      This work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas. Novel concepts include the ability to interchange built-in tools without ...