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2017


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Stationary and time-dependent heat transfer in paradigmatic many-body geometries

Asheichyk, Kiryl

Universität Stuttgart, Stuttgart, 2017 (mastersthesis)

icm

[BibTex]

2017


[BibTex]


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Non-equilibrium forces after temperature quenches in ideal fluids with conserved density

Hölzl, Christian

Universität Stuttgart, Stuttgart, 2017 (mastersthesis)

icm

[BibTex]

[BibTex]


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Numerical studies of active colloids at fluid interfaces

Peter, Toni

Universität Stuttgart, Stuttgart, 2017 (mastersthesis)

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[BibTex]

[BibTex]


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Collective dynamics of laterally confined active particles near fluid-fluid interfaces

Kistner, Irina

Universität Stuttgart, Stuttgart, 2017 (mastersthesis)

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[BibTex]

[BibTex]


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Self-diffusion of DNA grafted functional colloids in a crowded environment

Werner, M.

Universität Stuttgart, Stuttgart, 2017 (mastersthesis)

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[BibTex]

[BibTex]


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Electrostatic interaction between non-identical charged particles at an electrolyte interface

Schmetzer, Timo

Universität Stuttgart, Stuttgart, 2017 (mastersthesis)

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[BibTex]

[BibTex]


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Microscopic investigation of the Marangoni effect

Pöhnl, Matthias

Universität Stuttgart, Stuttgart, 2017 (mastersthesis)

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[BibTex]

[BibTex]


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Interfacial structure of a catalytic surface

Lipp, Melanie

Universität Stuttgart, Stuttgart, 2017 (mastersthesis)

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[BibTex]

[BibTex]


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Pattern Generation for Walking on Slippery Terrains

Khadiv, M., Moosavian, S. A. A., Herzog, A., Righetti, L.

In 2017 5th International Conference on Robotics and Mechatronics (ICROM), Iran, August 2017 (inproceedings)

Abstract
In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and preserving robust foot-ground contact. Exploiting this for- mulation inside MPC, we show that safe walking on various flat terrains can be achieved by compromising three main attributes, i. e. walking velocity tracking, the Zero Moment Point (ZMP) modulation, and the Required Coefficient of Friction (RCoF) regulation. Simulation results show that increasing the walking velocity increases the possibility of slippage, while reducing the slippage possibility conflicts with reducing the tip-over possibility of the contact and vice versa.

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link (url) [BibTex]

link (url) [BibTex]

2013


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Brownian motion of optically trapped ellipsoids

Dibak, Manuel

Universität Stuttgart, Stuttgart, 2013 (mastersthesis)

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[BibTex]

2013


[BibTex]


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Phase behavior of colloidal suspensions with critical solvents

Mohry, T. F.

Universität Stuttgart, Stuttgart, 2013 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


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AGILITY – Dynamic Full Body Locomotion and Manipulation with Autonomous Legged Robots

Hutter, M., Bloesch, M., Buchli, J., Semini, C., Bazeille, S., Righetti, L., Bohg, J.

In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages: 1-4, IEEE, Linköping, Sweden, 2013 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Zweidimensionale Monte-Carlo-Gittersimulationen im muVT- und NpT-Ensemble

Kirn, Kai Ludwig

Universität Stuttgart, Stuttgart, 2013 (mastersthesis)

icm

[BibTex]

[BibTex]


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Permittivity of an inhomogeneous dipolar lattice fluid

Schütz, Christian

Universität Stuttgart, Stuttgart, 2013 (mastersthesis)

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[BibTex]

[BibTex]


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Learning Objective Functions for Manipulation

Kalakrishnan, M., Pastor, P., Righetti, L., Schaal, S.

In 2013 IEEE International Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 (inproceedings)

Abstract
We present an approach to learning objective functions for robotic manipulation based on inverse reinforcement learning. Our path integral inverse reinforcement learning algorithm can deal with high-dimensional continuous state-action spaces, and only requires local optimality of demonstrated trajectories. We use L 1 regularization in order to achieve feature selection, and propose an efficient algorithm to minimize the resulting convex objective function. We demonstrate our approach by applying it to two core problems in robotic manipulation. First, we learn a cost function for redundancy resolution in inverse kinematics. Second, we use our method to learn a cost function over trajectories, which is then used in optimization-based motion planning for grasping and manipulation tasks. Experimental results show that our method outperforms previous algorithms in high-dimensional settings.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Learning Task Error Models for Manipulation

Pastor, P., Kalakrishnan, M., Binney, J., Kelly, J., Righetti, L., Sukhatme, G. S., Schaal, S.

In 2013 IEEE Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 (inproceedings)

Abstract
Precise kinematic forward models are important for robots to successfully perform dexterous grasping and manipulation tasks, especially when visual servoing is rendered infeasible due to occlusions. A lot of research has been conducted to estimate geometric and non-geometric parameters of kinematic chains to minimize reconstruction errors. However, kinematic chains can include non-linearities, e.g. due to cable stretch and motor-side encoders, that result in significantly different errors for different parts of the state space. Previous work either does not consider such non-linearities or proposes to estimate non-geometric parameters of carefully engineered models that are robot specific. We propose a data-driven approach that learns task error models that account for such unmodeled non-linearities. We argue that in the context of grasping and manipulation, it is sufficient to achieve high accuracy in the task relevant state space. We identify this relevant state space using previously executed joint configurations and learn error corrections for those. Therefore, our system is developed to generate subsequent executions that are similar to previous ones. The experiments show that our method successfully captures the non-linearities in the head kinematic chain (due to a counterbalancing spring) and the arm kinematic chains (due to cable stretch) of the considered experimental platform, see Fig. 1. The feasibility of the presented error learning approach has also been evaluated in independent DARPA ARM-S testing contributing to successfully complete 67 out of 72 grasping and manipulation tasks.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2007


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Phase behavior and effective interactions in colloidal suspensions

Grodon, C.

Universität Stuttgart, Stuttgart, 2007 (phdthesis)

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link (url) [BibTex]

2007


link (url) [BibTex]


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The effect of capillary forces on adhesion of biological and artificial attachment devices

De Souza, E. J.

Universität Stuttgart, Stuttgart, 2007 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


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Brownian dynamics in near surface flows

Almenar Egea, L.

Universität Stuttgart, Stuttgart, 2007 (mastersthesis)

icm

[BibTex]

[BibTex]


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Single lamella crystals of polyethylene accessible by catalytic emulsion-polymerization

Weber, C. H. M., Chiche, A., Krausch, G., Rosenfeldt, S., Ballauff, M., Goettker-Schnetmann, I., Tong, Q., Mecking, S., Harnau, L.

In Polymeric Materials: Science \& Engineering, 97, pages: 133-134, 2007 (inproceedings)

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[BibTex]

[BibTex]


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Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Degallier, S., Righetti, L., Ijspeert, A.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2047-2052, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to sensory-motor feedbacks, in particular to properly place feet on specific locations, are thus needed. Dynamical systems are well suited for this task as any online modification of the parameters leads to a smooth adaptation of the trajectories, allowing a safe integration of sensory-motor feedback. In this contribution, as a first step in the direction of locomotion on irregular surfaces, we present a controller that allows hand placement during crawling in a simulated humanoid robot. The goal of the controller is to superimpose rhythmic movements for crawling with discrete (i.e. short-term) modulations of the hand placements to reach specific marks on the ground.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Lower body realization of the baby humanoid - ‘iCub’

Tsagarakis, N., Becchi, F., Righetti, L., Ijspeert, A., Caldwell, D.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 3616-3622, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Nowadays, the understanding of the human cognition and it application to robotic systems forms a great challenge of research. The iCub is a robotic platform that was developed within the RobotCub European project to provide the cognition research community with an open baby- humanoid platform for understanding and development of cognitive systems. In this paper we present the design requirements and mechanical realization of the lower body developed for the "iCub". In particular the leg and the waist mechanisms adopted for lower body to match the size and physical abilities of a 2 frac12 year old human baby are introduced.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2004


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Euler-Poincare characteristics of disordered media: an application in effective medium theories

Arns, C. H., Knackstedt, A., Mecke, K.

In Microscopy and Microanalysis, 10, pages: 714-715, 2004 (inproceedings)

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[BibTex]

2004


[BibTex]


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Morphometry of convection patterns in the earth\textquotesingles mantle

Kaminke, Ralf

Universität Stuttgart, Stuttgart, 2004 (mastersthesis)

icm

[BibTex]

[BibTex]


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Iterated conformal maps and pinning of stick-slip laplacian flows

Hentschel, H. G. E., Popescu, M. N., Family, F.

In Dynamics and Friction of Submicrometer Confining Systems, 882, pages: 85-96, ACS symposium series, ACS, Orlando [Florida], 2004 (inproceedings)

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[BibTex]

[BibTex]


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Operating system support for interface virtualisation of reconfigurable coprocessors

Vuletic, M., Righetti, L., Pozzi, L., Ienne, P.

In In Proceedings of the Design, Automation and Test in Europe Conference and Exhibition, pages: 748-749, IEEE, Paris, France, 2004 (inproceedings)

Abstract
Reconfigurable systems-on-chip (SoC) consist of large field programmable gate arrays (FPGAs) and standard processors. The reconfigurable logic can be used for application-specific coprocessors to speedup execution of applications. The widespread use is limited by the complexity of interfacing software applications with coprocessors. We present a virtualization layer that lowers the interfacing complexity and improves the portability. The layer shifts the burden of moving data between processor and coprocessor from the programmer to the operating system (OS). A reconfigurable SoC running Linux is used to prove the concept.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]