Chair of Sensor Based Robotic Systems and Intelligent Assistance Systems

The primary mission of this chair is teaching and research in the fields of design, sensorbased programming, and control of complex robotic systems for manipulation and locomotion. The main field of application is the robotic assistance in industrial production, medical and health-care applications up to personal assistance systems.

The chair is in close connection with the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR).

For open docorate positions please contact us.

Announcement of Scientific Presentation

Title: Probabilistic Virtual Fixtures

Presenter: Maximilian Mühlbauer

Abstract

Virtual Fixtures (VFs) are software-generated guides that assist a human operator in telemanipulation and human-robot interaction tasks by providing force feedback. Often multiple fixtures with different properties and input modalities are required, to optimally support the human in challenging tasks. The uncertainty measure available from a probabilistic fixture formulation, which utilizes Gaussian Mixture Models to capture the variability and uncertainty in human motion and task execution, allows to allocate control authority between human and fixture based on stiffness adaptation as well as to arbitrate between different fixtures. This talk presents recent results on the learning, arbitration and control of such fixtures and their applications.

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Zoom
6. Mai 2025 2:00 PM
https://tum-conf.zoom-x.de/j/65418264479?pwd=8CDk7lq5H11U5rX1i0XfzwmkF0UCYp.1
Meeting-ID:  654 1826 4479
Kenncode: 931152