Robot Manipulation

Neural End-to-End Learning of Reach for Grasp Ability with a 6-DoF Robot Arm

We present a neural end-to-end learning approach for a reach-for-grasp task on an industrial UR5 arm. Our approach combines the generation of suitable training samples by classical inverse kinematics (IK) solvers in a simulation environment in …

Learning Spatial Representation for Safe Human-Robot Collaboration in Joint Manual Tasks

Programming robots for a safe interaction with humans is extremely complex especially in collaborative tasks. One reason is the unpredictable behaviour of humans that may have an intention which is not clear to the robot. We present a novel …

Language-modulated Safer Actions using Deep Reinforcement Learning

Programming robots for a safe interaction with humans is extremely complex especially in collaborative tasks. One reason is the unpredictable behaviour of humans that may have an intention which is not clear to the robot. We present a novel …