Publications

  • [PDF] R. K. Katzschmann, “Building and Controlling Fluidically Actuated Soft Robots: From Open Loop to Model-based Control,” PhD Thesis, 2018.
    [Bibtex]
    @PhdThesis{katzschmann2018thesis,
    author = {Katzschmann, Robert K.},
    title = {Building and {C}ontrolling {F}luidically {A}ctuated {S}oft {R}obots: {F}rom {O}pen {L}oop to {M}odel-based {C}ontrol},
    school = {Massachusetts Institute of Technology},
    year = {2018},
    }
  • [PDF] C. Della Santina*, R. K. Katzschmann*, A. Bicchi, and D. Rus, “Dynamic control of soft robots interacting with the environment,” in 2018 IEEE-RAS International Conference on Soft Robotics (RoboSoft), 2018.
    [Bibtex]
    @inproceedings{della2018dynamic,
    author = {Della Santina*, Cosimo and Katzschmann*, Robert K. and Bicchi, Antonio and Rus, Daniela},
    booktitle = {2018 IEEE-RAS International Conference on Soft Robotics (RoboSoft)},
    title = {Dynamic control of soft robots interacting with the environment},
    month = {April},
    year = {2018}
    }
  • [PDF] [DOI] B. S. Homberg*, R. K. Katzschmann*, M. R. Dogar, and D. Rus, “Robust proprioceptive grasping with a soft robot hand,” Autonomous Robots, 2018.
    [Bibtex]
    @article{homberg2018robust,
    title = {Robust proprioceptive grasping with a soft robot hand},
    author = {Homberg*, Bianca S. and Katzschmann*, Robert K. and Dogar, Mehmet R. and Rus, Daniela},
    publisher = {Springer US},
    journal = {Autonomous Robots},
    keywords = {Soft Robotics, Soft Gripper, Proprioceptive soft robotic hand, Proprioceptive sensing, Online object identification, Learning new objects, Autonomously Grasping},
    month = {April},
    year = {2018},
    doi = {10.1007/s10514-018-9754-1},
    abstract = {This work presents a soft hand capable of robustly grasping and identifying objects based on internal state measurements along with a combined system which autonomously performs grasps. A highly compliant soft hand allows for intrinsic robustness to grasping uncertainties; the addition of internal sensing allows the configuration of the hand and object to be detected. The finger module includes resistive force sensors on the fingertips for contact detection and resistive bend sensors for measuring the curvature profile of the finger. The curvature sensors can be used to estimate the contact geometry and thus to distinguish between a set of grasped objects. With one data point from each finger, the object grasped by the hand can be identified. A clustering algorithm to find the correspondence for each grasped object is presented for both enveloping grasps and pinch grasps. A closed loop system uses a camera to detect approximate object locations. Compliance in the soft hand handles that uncertainty in addition to geometric uncertainty in the shape of the object.},
    }
  • [PDF] [DOI] R. K. Katzschmann, J. DelPreto, R. MacCurdy, and D. Rus, “Exploration of underwater life with an acoustically controlled soft robotic fish,” Science Robotics, vol. 3, iss. 16, 2018.
    [Bibtex]
    @article {katzschmann2018exploration,
    author = {Katzschmann, Robert K. and DelPreto, Joseph and MacCurdy, Robert and Rus, Daniela},
    title = {Exploration of underwater life with an acoustically controlled soft robotic fish},
    volume = {3},
    number = {16},
    month = {March},
    year = {2018},
    doi = {10.1126/scirobotics.aar3449},
    publisher = {Science Robotics},
    abstract = {Closeup exploration of underwater life requires new forms of interaction, using biomimetic creatures that are capable of agile swimming maneuvers, equipped with cameras, and supported by remote human operation. Current robotic prototypes do not provide adequate platforms for studying marine life in their natural habitats. This work presents the design, fabrication, control, and oceanic testing of a soft robotic fish that can swim in three dimensions to continuously record the aquatic life it is following or engaging. Using a miniaturized acoustic communication module, a diver can direct the fish by sending commands such as speed, turning angle, and dynamic vertical diving. This work builds on previous generations of robotic fish that were restricted to one plane in shallow water and lacked remote control. Experimental results gathered from tests along coral reefs in the Pacific Ocean show that the robotic fish can successfully navigate around aquatic life at depths ranging from 0 to 18 meters. Furthermore, our robotic fish exhibits a lifelike undulating tail motion enabled by a soft robotic actuator design that can potentially facilitate a more natural integration into the ocean environment. We believe that our study advances beyond what is currently achievable using traditional thruster-based and tethered autonomous underwater vehicles, demonstrating methods that can be used in the future for studying the interactions of aquatic life and ocean dynamics.},
    URL = {http://robotics.sciencemag.org/content/3/16/eaar3449},
    eprint = {http://robotics.sciencemag.org/content/3/16/eaar3449.full.pdf},
    journal = {Science Robotics}
    }
  • [PDF] [DOI] R. K. Katzschmann, B. Araki, and D. Rus, “Safe Local Navigation for Visually Impaired Users with a Time-of-Flight and Haptic Feedback Device,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, p. 1–1, 2018.
    [Bibtex]
    @article{katzschmann2018safe,
    author = {Katzschmann, Robert K. and Araki, Brandon and Rus, Daniela},
    doi = {10.1109/TNSRE.2018.2800665},
    issn = {1534-4320},
    journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering},
    publisher = {IEEE Transactions on Neural Systems and Rehabilitation Engineering},
    pages = {1--1},
    title = {Safe Local Navigation for Visually Impaired Users with a Time-of-Flight and Haptic Feedback Device},
    url = {http://ieeexplore.ieee.org/document/8276628/},
    year = {2018}
    }
  • [PDF] [DOI] H. C. Wang*, R. K. Katzschmann*, B. Araki, S. Teng, L. Giarre, and D. Rus, “Enabling Independent Navigation for Visually Impaired People through a Wearable Vision-Based Feedback System,” in 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, p. 6533–6540.
    [Bibtex]
    @inproceedings{wang2017enabling,
    author = {Wang*, Hsueh-Cheng C and Katzschmann*, Robert K. and Araki, Brandon and Teng, Santani and Giarre, Laura and Rus, Daniela},
    booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
    doi = {10.1109/ICRA.2017.7989772},
    keywords = {Cameras,Haptic interfaces,Legged locomotion,Navigation,Robot sensing systems,Three-dimensional displays,Vibrations},
    month = {may},
    pages = {6533--6540},
    title = {Enabling Independent Navigation for Visually Impaired People through a Wearable Vision-Based Feedback System},
    year = {2017}
    }
  • [PDF] [DOI] R. K. Katzschmann, A. De Maille, D. L. Dorhout, and D. Rus, “Cyclic hydraulic actuation for soft robotic devices,” in 2016 IEEE International Conference on Intelligent Robots and Systems, Daejeon, 2016, p. 3048–3055.
    [Bibtex]
    @inproceedings{katzschmann2016cyclic,
    abstract = {Undulating structures are one of the most diverse and successful forms of locomotion in nature, both on ground and in water. This paper presents a comparative study for actuation by undulation in water. We focus on actuating a 1DOF systems with several mechanisms. A hydraulic pump attached to a soft body allows for water movement between two inner cavities, ultimately leading to a flexing actuation in a side-to-side manner. The effectiveness of six different, self-contained designs based on centrifugal pump, flexible impeller pump, external gear pump and rotating valves are compared. These hydraulic actuation systems combined with soft test bodies were then measured at a lower and higher oscillation frequency. The deflection characteristics of the soft body, the acoustic noise of the pump and the overall efficiency of the system are recorded. A brushless, centrifugal pump combined with a novel rotating valve performed at both test frequencies as the most efficient pump, producing sufficiently large cyclic body deflections along with the least acoustic noise among all pumps tested. An external gear pump design produced the largest body deflection, but consumes an order of magnitude more power and produced high noise levels. Further refinement remains on determining the suitable oscillation frequencies and inner cavity designs for optimal efficiency and movement.},
    address = {Daejeon},
    author = {Katzschmann, Robert K. and De Maille, Austin and Dorhout, David L. and Rus, Daniela},
    booktitle = {2016 IEEE International Conference on Intelligent Robots and Systems},
    doi = {10.1109/IROS.2016.7759472},
    isbn = {9781509037629},
    issn = {21530866},
    pages = {3048--3055},
    title = {Cyclic hydraulic actuation for soft robotic devices},
    volume = {2016-Novem},
    year = {2016},
    publisher = {2016 IEEE International Conference on Intelligent Robots and Systems},
    }
  • [PDF] [DOI] R. MacCurdy, R. K. Katzschmann, Y. Kim, and D. Rus, “Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, p. 3878–3885.
    [Bibtex]
    @inproceedings{maccurdy2016printable,
    author = {MacCurdy, Robert and Katzschmann, Robert K. and Kim, Youbin and Rus, Daniela},
    booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
    doi = {10.1109/ICRA.2016.7487576},
    arxivId = {1512.03744},
    eprint = {1512.03744},
    keywords = {3D printers,Additive Manufacturing,Flexible Robots,Hydraulic Robots,Liquids,Printable Robotics,Printers,Robots,Soft Material Robotics,Solid modeling,Solids,additive manufacturing,commercially-available 3D printer,flexible robots,functional robots,gear pumps,grippers,hexapod robot,hydraulic systems,linear bellows actuators,noncuring liquid,optical polymers,photopolymers,prefilled fluidic channels,printable hydraulics,robot dynamics,soft grippers},
    month = {may},
    pages = {3878--3885},
    title = {Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids},
    url = {http://arxiv.org/abs/1512.03744},
    year = {2016},
    abstract = {This paper introduces a novel technique for fabricating functional robots using 3D printers. Simultaneously depositing photopolymers and a non-curing liquid allows complex, pre-filled fluidic channels to be fabricated. This new printing capability enables complex hydraulically actuated robots and robotic components to be automatically built, with no assembly required. The technique is showcased by printing linear bellows actuators, gear pumps, soft grippers and a hexapod robot, using a commercially-available 3D printer. We detail the steps required to modify the printer and describe the design constraints imposed by this new fabrication approach.},
    address = {Stockholm},
    }
  • [PDF] [DOI] R. K. Katzschmann, A. D. Marchese, and D. Rus, “Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator,” Soft Robotics, vol. 2, iss. 4, p. 155–164, 2015.
    [Bibtex]
    @article{katzschmann2015autonomous,
    author = {Katzschmann, Robert K. and Marchese, Andrew D. and Rus, Daniela},
    doi = {10.1089/soro.2015.0013},
    issn = {2169-5172},
    journal = {Soft Robotics},
    month = {dec},
    number = {4},
    pages = {155--164},
    publisher = {Mary Ann Liebert, Inc. 140 Huguenot Street, 3rd Floor New Rochelle, NY 10801 USA},
    title = {Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator},
    url = {http://online.liebertpub.com/doi/10.1089/soro.2015.0013},
    volume = {2},
    year = {2015},
    abstract = {This paper presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position and shape of the object. The end effector of the soft manipulator is fabricated in one piece without weakening seams using lost-wax casting instead of the commonly used multi-layer lamination process. The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention. The autonomous planning system leverages the compliance and continuum bending of the soft grasping manipulator to achieve repeatable grasps in the presence of uncertainty. A suite of experiments is presented that demonstrates the system's capabilities.},
    }
  • [PDF] [DOI] J. Delpreto, R. K. Katzschmann, R. Maccurdy, and D. Rus, “A Compact Acoustic Communication Module for Remote Control Underwater,” in WUWNET ’15: Proceedings of the 10th International Conference on Underwater Networks & Systems, New York, NY, USA, 2015.
    [Bibtex]
    @inproceedings{delpreto2015compact,
    address = {New York, NY, USA},
    author = {Delpreto, Joseph and Katzschmann, Robert K. and Maccurdy, Robert and Rus, Daniela},
    booktitle = {WUWNET '15: Proceedings of the 10th International Conference on Underwater Networks & Systems},
    doi = {10.1145/2831296.2831337},
    isbn = {9781450340366},
    keywords = {Goertzel algorithm,Microcontroller,System integration,Underwater acoustic communication,Underwater low-bandwidth robot control,goertzel algorithm,system integration,underwater acoustic communication,underwater low- band-,width robot control},
    publisher = {ACM},
    title = {A Compact Acoustic Communication Module for Remote Control Underwater},
    year = {2015},
    month = {oct},
    abstract = {This paper describes an end-to-end compact acoustic communication system designed for easy integration into remotely controlled underwater operations. The system supports up to 2048 commands that are encoded as 16 bit words. We present the design, hardware, and supporting algorithms for this system. A pulse-based FSK modulation scheme is presented, along with a method of demodulation requiring minimal processing power that leverages the Goertzel algorithm and dynamic peak detection. We packaged the system together with an intuitive user interface for remotely controlling an autonomous underwater vehicle. We evaluated this system in the pool and in the open ocean. We present the communication data collected during experiments using the system to control an underwater robot.},
    }
  • [PDF] [DOI] B. S. Homberg, R. K. Katzschmann, M. R. Dogar, and D. Rus, “Haptic Identification of Objects using a Modular Soft Robotic Gripper,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, p. 1698–1705.
    [Bibtex]
    @inproceedings{homberg2015haptic,
    author = {Homberg, Bianca S. and Katzschmann, Robert K. and Dogar, Mehmet R. and Rus, Daniela},
    booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    doi = {10.1109/IROS.2015.7353596},
    keywords = {Baxter robot,Grasping,Grippers,Object recognition,Robot sensing systems,Rubber,clustering algorithm,dexterous manipulators,enveloping grasps,grippers,highly compliant hand,internal state measurements,modular soft robotic gripper,object haptic identification,pattern clustering,pinch grasps,resistive bend sensors,robust proprioceptive soft grasping,three finger gripper},
    month = {sep},
    pages = {1698--1705},
    title = {Haptic Identification of Objects using a Modular Soft Robotic Gripper},
    year = {2015},
    abstract = {This work presents a soft hand capable of robustly grasping and identifying objects based on internal state measurements. A highly compliant hand allows for intrinsic robustness to grasping uncertainty, but the specific configuration of the hand and object is not known, leaving undetermined if a grasp was successful in picking up the right object. A soft finger was adapted and combined to form a three finger gripper that can easily be attached to existing robots, for example, to the wrist of the Baxter robot. Resistive bend sensors were added within each finger to provide a configuration estimate sufficient for distinguishing between a set of objects. With one data point from each finger, the object grasped by the gripper can be identified. A clustering algorithm to find the correspondence for each grasped object is presented for both enveloping grasps and pinch grasps. This hand is a first step towards robust proprioceptive soft grasping.},
    }
  • [PDF] [DOI] S. Li, R. K. Katzschmann, and D. Rus, “A soft cube capable of controllable continuous jumping,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, p. 1712–1717.
    [Bibtex]
    @inproceedings{li2015soft,
    author = {Li, Shuguang and Katzschmann, Robert K. and Rus, Daniela},
    booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    doi = {10.1109/IROS.2015.7353598},
    keywords = {DC motors,Gears,Robot sensing systems,Rotors,Stators,Strips,active jumping motion,controllable continuous jumping,dynamic motion,elastic strip,elasticity,fabrication process,jumping actuation,legged locomotion,robot dynamics,silicone foam,soft cube,soft-bodied jumping robot,soft-bodied robots},
    month = {sep},
    pages = {1712--1717},
    title = {A soft cube capable of controllable continuous jumping},
    year = {2015},
    abstract = {Soft-bodied robots are designed to work in the physical world with a high compliance, while most of them lack in highly dynamic motion. In this paper, we present a soft-bodied jumping robot, which leverages its body's elasticity to achieve a highly dynamic passive bouncing motion after an active jumping motion. This robot has a cubic shape. It is covered by silicone foam, and each of its six faces has an opening to allow for jumping actuation. By winding up and releasing an elastic strip, the robot can jump in two directions at any orientation. We present the design, and fabrication process, and experimental results. By comparing this robot with a rigid version of the robot, we show that this soft-bodied robot can use a single jump to travel longer forward than its rigid counterpart.},
    }
  • [PDF] [DOI] A. D. Marchese, R. K. Katzschmann, and D. Rus, “A Recipe for Soft Fluidic Elastomer Robots,” Soft Robotics, vol. 2, iss. 1, p. 7–25, 2015.
    [Bibtex]
    @article{marchese2015recipe,
    author = {Marchese, Andrew D and Katzschmann, Robert K. and Rus, Daniela},
    doi = {10.1089/soro.2014.0022},
    issn = {2169-5172},
    journal = {Soft Robotics},
    number = {1},
    pages = {7--25},
    title = {A Recipe for Soft Fluidic Elastomer Robots},
    url = {http://online.liebertpub.com/doi/10.1089/soro.2014.0022},
    volume = {2},
    year = {2015},
    month = {mar},
    abstract = {This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax-based casting. Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation. We experimentally validate each soft actuator morphology and fabrication process by creating multiple physical soft robot prototypes.},
    }
  • [PDF] [DOI] A. D. Marchese, R. K. Katzschmann, and D. Rus, “Whole Arm Planning for a Soft and Highly Compliant 2D Robotic Manipulator,” in Intelligent Robots and Systems (IROS), 2014 IEEE/RSJ International Conference on, 2014, p. 554–560.
    [Bibtex]
    @inproceedings{marchese2014whole,
    author = {Marchese, Andrew D and Katzschmann, Robert K. and Rus, Daniela},
    booktitle = {Intelligent Robots and Systems (IROS), 2014 IEEE/RSJ International Conference on},
    doi = {10.1109/IROS.2014.6942614},
    isbn = {9781479969340},
    issn = {21530866},
    pages = {554--560},
    publisher = {IEEE},
    title = {Whole Arm Planning for a Soft and Highly Compliant 2D Robotic Manipulator},
    year = {2014},
    month = {nov},
    abstract = {Soft continuum manipulators have the advantage of being more compliant and having more degrees of freedom than rigid redundant manipulators. This attribute should allow soft manipulators to autonomously execute highly dexterous tasks. However, current approaches to motion planning, inverse kinematics, and even design limit the capacity of soft manipu- lators to take full advantage of their inherent compliance. We provide a computational approach to whole arm planning for a soft planar manipulator that advances the arm's end effector pose in task space while simultaneously considering the arm's entire envelope in proximity to a confined environment. The algorithm solves a series of constrained optimization problems to determine locally optimal inverse kinematics. Due to inherent limitations in modeling the kinematics of a highly compliant soft robot and the local optimality of the planner's solutions, we also rely on the increased softness of our newly designed manipulator to accomplish the whole arm task, namely the arm's ability to harmlessly collide with the environment. We detail the design and fabrication of the new modular manipulator as well as the planner's central algorithm. We experimentally validate our approach by showing that the robotic system is capable of autonomously advancing the soft arm through a pipe-like environment in order to reach distinct goal states.},
    }
  • [PDF] [DOI] R. K. Katzschmann, A. D. Marchese, and D. Rus, “Hydraulic Autonomous Soft Robotic Fish for 3D Swimming,” in International Symposium on Experimental Robotics (ISER), Marrakech, Morocco, 2014, p. 405–420.
    [Bibtex]
    @inproceedings{katzschmann2014hydraulic,
    address = {Marrakech, Morocco},
    author = {Katzschmann, Robert K. and Marchese, Andrew D. and Rus, Daniela},
    booktitle = {International Symposium on Experimental Robotics (ISER)},
    publisher = {International Symposium on Experimental Robotics (ISER)},
    url = {http://robert.katzschmann.eu/wp-content/uploads/2017/08/katzschmann2014hydraulic.pdf},
    doi = {10.1007/978-3-319-23778-7_27},
    isbn = {9783319237787},
    issn = {1610742X},
    keywords = {Fluidic Elastomer Actuator,Fluidic elastomer actuator,Hydraulic,Hydraulic Actuation,Hydraulic actuation,Lost-Wax Silicone Casting,Lost-wax silicone casting,Robotic Fish,Robotic fish,Soft Actuator Fabrication,Soft Robotics,Soft actuator fabrication,Soft robotics,Underwater Locomotion,Underwater locomotion,fluidic elastomer actuator,hydraulic actuation,lost-wax fabrication,lost-wax silicone casting,motion,robotic fish,soft actuator fabrica-,soft actuator fabrication,soft robotics,tion,under-,water locomotion},
    mendeley-tags = {Hydraulic,lost-wax fabrication,soft robotics},
    number = {1122374},
    pages = {405--420},
    title = {Hydraulic Autonomous Soft Robotic Fish for 3D Swimming},
    volume = {109},
    year = {2014},
    abstract = {This work presents an autonomous soft-bodied robotic fish that is hydraulically actuated and capable of sustained swimming in three dimensions. The design of a fish-like soft body has been extended to deform under hydraulic instead of pneumatic power. Moreover, a new closed-circuit drive system that uses water as a transmission fluid is used to actuate the soft body. Circulation of water through internal body channels provides control over the fish's caudal fin propulsion and yaw motion. A new fabrication technique for the soft body is described, which allows for arbitrary internal fluidic channels, enabling a wide-range of continuous body deformations. Furthermore, dynamic diving capabilities are introduced through pectoral fins as dive planes. These innovations enable prolonged fish-like locomotion in three dimensions.},
    }
  • [PDF] [DOI] R. K. Katzschmann, T. Kröger, T. Asfour, and O. Khatib, “Towards online trajectory generation considering robot dynamics and torque limits,” in 2013 IEEE International Conference on Intelligent Robots and Systems, 2013, p. 5644–5651.
    [Bibtex]
    @inproceedings{katzschmann2013towards,
    author = {Katzschmann, Robert K. and Kr\"oger, Torsten and Asfour, Tamim and Khatib, Oussama},
    booktitle = {2013 IEEE International Conference on Intelligent Robots and Systems},
    publisher = {2013 IEEE International Conference on Intelligent Robots and Systems},
    url = {http://robert.katzschmann.eu/wp-content/uploads/2017/08/katzschmann2013towards.pdf},
    doi = {10.1109/IROS.2013.6697174},
    pages = {5644--5651},
    title = {{Towards online trajectory generation considering robot dynamics and torque limits}},
    year = {2013},
    month = {nov},
    abstract = {Generating robot motion trajectories instantaneously in the moment unforeseen sensor events happen is very essential for many real-world robot applications. Using a previous work on online trajectory generation as a basis, this paper proposes an alternative approach that also considers dynamic models. The former class of algorithms does not take into account dynamically changing acceleration capabilities based on maximum actuator forces/torques. This paper extends target velocity-based algorithms of the previous approach by taking into consideration the entire system dynamics when generating trajectories online within one control cycle (typically 1 ms or less). The extension includes the acceleration capabilities of a robot at every discrete time step assuming constant values for the maximum actuator forces/torques, thus allowing the generation of adaptive trajectory profiles during the motion of the robot. Several real-world experimental results using a seven-degree-of-freedom lightweight robot arm underline the relevance of this extension.},
    }
  • [PDF] R. K. Katzschmann, “Dynamic Online Trajectory Generation Acceleration Capabilities Considered for Real-Time Path Planning,” Diplomarbeit (~Master’s Thesis), Karlsruhe Institute of Technology / Stanford University, 2013.
    [Bibtex]
    @article{katzschmann2013dynamic,
    author = {Katzschmann, Robert K.},
    journal = {Diplomarbeit (~Master's Thesis), Karlsruhe Institute of Technology / Stanford University},
    title = {Dynamic Online Trajectory Generation Acceleration Capabilities Considered for Real-Time Path Planning},
    month={Jan},
    year = {2013},
    url = {http://robert.katzschmann.eu/wp-content/uploads/2017/08/katzschmann2013dynamic.pdf},
    abstract = {A concept of online trajectory generation for robot motion control systems enabling instantaneous reactions to unforeseen sensor events was introduced in former publications. This thesis extends the existing concept by allowing time-variant kinematic motion constraints being applied online to the algorithms, so that low-level trajectory parameters can now be changed abruptly, and the system can react instantaneously within the same control cycle of typically two milliseconds or less. The formerly proposed class of algorithms does not take into account dynamically changing acceleration capabilities for given kinematic and dynamic models of robot systems. This leads to the problem that the values of the motion constraints used for the online trajectory generation algorithms have to be chosen constant in its value and relatively low compared to the actual available acceleration capabilities of the robot. This assures on the one hand that the generated motion trajectory can be performed all the way through with, if at all, negligible tracking-errors. And on the other hand, this leads to a suboptimal reactiveness of the system, since it could potentially outperform more when accelerating and decelerating. This thesis extends the algorithms of the previous approach by taking into consideration the whole system dynamics when generating trajectories online. The extension considers the acceleration capabilities of a robot by looking ahead in time along its future motion path, thus allowing the generation of adaptive trajectory profiles during the motion of the robot. Real-world experimental results using a lightweight robot arm highlight the practical relevance of this extension.},
    }
  • [PDF] R. K. Katzschmann, “Kompensation des Einflusses eines Mehrfingergreifers auf einen Kraft-Momenten-Sensor,” Studienarbeit (~Bachelor’s Thesis), Karlsruhe Institute of Technology, 2011.
    [Bibtex]
    @article{katzschmann2011kompensation,
    author = {Katzschmann, Robert K.},
    title = {Kompensation des Einflusses eines Mehrfingergreifers auf einen Kraft-Momenten-Sensor},
    journal = {Studienarbeit (~Bachelor's Thesis), Karlsruhe Institute of Technology},
    month = {May},
    year = {2011},
    url = {http://robert.katzschmann.eu/wp-content/uploads/2017/08/katzschmann2011kompensation.pdf},
    abstract = {This work addresses the analysis and compensation of the force and torque effects of a multi-finger gripper on a force-torque sensor. The gripper and the sensor are attached to a free moving multiple axis industrial robot. The problem to be solved is that external force-torque influences have to be differentiated from internal influences. With respect to all static effects, the components and their constellation are analyzed and calculated according to theoretical modeling through the principles of technical mechanics. Based on this, a general process is developed with which the prevailing forces and torques can be predicted in real time and used for the compensation at each joint angle position. Within the scope of this work a system of a KUKA KR3 6-axis industrial robot, an ATI force-torque sensor mounted on top of it and an SDH2 multi-finger gripper, which in turn is fixed on the latter, with seven degrees of freedom is considered.},
    }

* Authors contributed equally to this work.