HiFliTE2024 - 2025
The HiFliTE (Humanoid in-Flight Task Execution) project aims to make two-legged robots capable of performing tasks that are not feasible for the robot because of its structure's limits (e.g., height, joint position limits, or lack of limbs) by exploiting the flight phase of a jump. Inspired by humans, the idea is to control one robot's end-effector to perform a defined task while the rest of the body stabilizes the robot in the flight phase and prepares it for landing. Read more →
HängMan2024 - 2025
The HängMan project aims at a novel technical solution for maintenance and in-contact inspection of large-scale infrastructure and industrial facilities, which require an operation in hardly accessible areas in large height. The envisioned system consists of a motorized base unit equipped with propellers and a manipulator arm. Read more →
ERC NatDyReL (Utilizing Natural Dynamics for Reliable Legged Locomotion)2019 - 2024
The NatDyReL (Utilizing Natural Dynamics for Reliable Legged Locomotion) project aims at a fundamental paradigm shift in the design and control of humanoid robots. This paves the way for a new generation of intrinsically compliant robots that are capable of adjusting their open loop actuator impedance in real-time to the task. Most importantly, the developed methods will allow for their use and adaptation in other morphologies, including multi-limbed walking or climbing robots. Read more →
Control of Motional Quantum States for Levitated Particles2023 - 2025
This project aims to generate motional quantum states of mesoscopic, optically levitated particles utilizing real-time algorithms and methods from control theory. By their unrivaled sensitivity, levitated nanoparticles hold promises ranging from commercial sensing applications to the search for new physics. Read more →
Control strategies for quantum fields2022 - 2025
The key motivation of this project is to develop control algorithms that enable essential operations for quantum simulation with sufficient precision for ultra-cold atom experiments. As such we aim at developing tools for two distinct physical situations: the operation of small thermal machines acting on the quantum fields and the controlled, coherent splitting of Bose gases. Read more →
Recycling Heroes2022 - 2024
Recycling Heroes - Anwendung von Citizen Science in Schulen um die Kreislaufwirtschaft in der Elektronikindustrie zu fördern Read more →
Optimization of start times and product sequences in a multi-line hot rolling mill
In a project together with voestalpine Böhler Edelstahl GmbH & Co KG, the start times and sequence of products in multi-line profile rolling plant are optimized. Based on mathematical models for processing times of all relevant plant sections, an algorithm that computes optimal product start times is developed. The algorithm considers the stochastic nature of the actual processing times. Moreover, a combinatoric optimization problem for the product selection and sequence is formulated and solved. Read more →
Fast trajectory planning for robotic systems in the presence of obstacles and dynamically moving targets
This research addresses the development of new methods for fast path planning in presence of obstacles and dynamically moving targets. Simulations and experiments are shown for a lab-sized cantry crane. Read more →
Optimal TCP and Robot Base Placement for Complex Continuous Paths
In this work, the optimal tool geometry for a predefined end-effector path is derived for an industrial robot. Read more →
Observer-based Iterative Learning Control to Improve Path Accuracy of Industrial Robots2018 - 2021
For robotic machining tasks, path accuracy is an essential performance criterion. Due to varying friction, non-constant transmission ratio of the gears and variable stiffness of the robot axes, path deviations occur in industrial robots, which have to be compensated for high-precision processes. In the course of the project, suitable robot models, observer and control strategies are to be designed with which the growing accuracy requirements in industrial manufacturing processes can be achieved. Read more →