Jonathan Vorndamme

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High-performance collision handling, which is divided into the five phases detection, isolation, estimation, classification and reaction, is a fundamental robot capability for safe and sensitive operation/interaction in unknown environments. For complex humanoid robots collision handling is obviously significantly more complex than for classical static(More)
Compliant manipulation has become central to robots that are sought to safely act in and interact with unstructured as well as only partially known environments. In this paper we equip the hydraulically actuated, usually position controlled arms of the Atlas robot with model-based joint impedance control, including suitable damping design, and(More)
Soft robotics methods such as impedance control and reflexive collision handling have proven to be a valuable tool to robots acting in partially unknown and potentially unstructured environments. Mainly, the schemes were developed with focus on classical electromechanically driven, torque controlled robots. There, joint friction, mostly coming from high(More)
This paper presents a robotic system for autonomously scanning wall surfaces by means of inductive, capacitive and AC measurements in order to gather information about flush-mounted power lines, water pipes and cavities. From these data the system generates a 3D map with in-wall information. Algorithms for surface scanning are described enabling robust(More)
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