Alexander Mortl

Learn More
Since the strict separation of working spaces of humans and robots has experienced a softening due to recent robotics research achievements, close interaction of humans and robots comes rapidly into reach. In this context, physical human– robot interaction raises a number of questions regarding a desired intuitive robot behavior. The continuous bilateral(More)
— Physical cooperation with humans greatly enhances the capabilities of robotic systems when leaving standardized industrial settings. Our novel cognition-enabled control framework presented in this paper enables a robotic assistant to enrich its own experience by acquisition of human task knowledge during joint manipulation. Our robot incrementally learns(More)
— Physical cooperation with humans greatly enhances the capabilities of robotic systems when leaving standardized industrial settings. In particular, manipulation of bulky objects in narrow environments requires cooperating partners. Actuation redundancies arising in joint manipulation impose the question of load sharing among the interacting partners. In(More)
Interpersonal movement synchronization is a phenomenon that does not only increase the predictability of movements; it also increases rapport among people. In this line, synchronization might enhance human-robot interaction. An experiment is presented which explores to what extend a human synchronizes own movements to a non-adaptive robot during a(More)
occurs frequently in human behaviour: Everybody has experienced that in a group of people walking pace tends to equalize. The phenomenon of synchrony has been established in the literature in tasks which have little in common with daily life such as pendulum swinging and chair rocking. We extend the knowledge about human movement synchronization by showing(More)
Actuated car doors are a promising way to increase the convenience of access to cars. In this paper, an advanced door concept which can easily be integrated into conventional car doors is presented. Using a linear, non-backdrivable actuator and various sensors, both automatic and manual door operations can be realized. The principal part is the realization(More)
— This paper investigates goal-directed cooperative object swinging as a novel physical human-robot interaction scenario. We develop an energy-based control concept, which enables a robot to cooperate with a human in a goal-directed swing-up task. The robot can be assigned to be a leader or an actively contributing follower. We conduct a virtual reality(More)
Actuated car doors are a promising way to increase the convenience of access to cars. We propose an advanced actuation and control concept which can easily be integrated into conventional car doors. By utilizing a linear, nonbackdrivable actuator and various sensors, both automatic and manual door operations are enabled. A discrete state controller ensures(More)
  • 1