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Technical University of Munich
Technical University of Munich

Research Interests

  • indirect force and position control during physical interaction tasks
  • redundancy resolution
  • task specification

Publications

2018

  • Lutscher, Ewald; Dean-León, Emmanuel C; Cheng, Gordon: Hierarchical Force and Positioning Task Specification for Indirect Force Controlled Robots. IEEE Transactions on Robotics 34 (1), 2018, 280 - 286 more… BibTeX Full text (mediaTUM)

2014

  • Ewald Lutscher and Gordon Cheng: Constrained Manipulation in Unstructured Environment Utilizing Hierarchical Task Specification for Indirect Force Controlled Robots. ICRA 2014, 2014 more… BibTeX Full text (mediaTUM)
  • Ewald Lutscher, Gordon Cheng: Hierarchical Inequality Task Specification for Indirect Force Controlled Robots using Quadratic Programming. IEEE/RSJ International Conference on Intelligent Robots and Systems , 2014 more… BibTeX Full text (mediaTUM)
  • Karinne Ramirez Amaro, Ewald Lutscher, Andreas Holzbach, Gordon Cheng: iCub@ICS-TUM: Semantic Reasoning, Constrained Manipulation and Humanoid Vision enable on the iCub. ICRA 2014, 2014 more… BibTeX

2013

  • Ewald Lutscher and Gordon Cheng: A Practical Approach to Generalized Hierarchical Task Specification for Indirect Force Controlled Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013 more… BibTeX Full text (mediaTUM)

2012

  • Ewald Lutscher, Gordon Cheng: Operating Unknown Constrained Mechanisms with Compliant Robots. ROBOTIK 2012, 2012 more… BibTeX Full text (mediaTUM)
  • Ewald Lutscher, Gordon Cheng: A Set-Point-Generator for Indirect-Force-Controlled Manipulators Operating Unknown Constrained Mechanisms. IROS 2012, 2012 more… BibTeX Full text (mediaTUM)
  • Thierry Chaminade, Delphine Rosset, David Da Fonseca, Bruno Nazarian, Ewald Lutscher, Gordon Cheng, Christine Deruelle: How do we think machines think? An fMRI study of alleged competition with an artificial intelligence. Frontiers in human neuroscience 6, 2012 more… BibTeX

2010

  • Ewald Lutscher, Martin Lawitzky, Gordon Cheng and Sandra Hirche: A Control Strategy for Operating Unknown Constrained Mechanisms. IEEE International Conference on Robotics and Automation. Anchorage, USA. , 2010 more… BibTeX Full text (mediaTUM)
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