Coupled Routing and Configuration Optimization for Multi-Viewpoint Robotic Inspection - 2026-06-17 - Research Publication - We present a unified framework that turns a set of 6-DoF inspection viewpoints into a time-optimal, collision-free route for a 9-DoF robotic system. Unlike modular pipelines that fix a single inverse-kinematics (IK)… - source: arxiv.org
PhyRoGen: Synthetic Generation of Physical Robot Manipulation Puzzles Using Procedural Content Generation - 2026-06-04 - Research Publication - Robot manipulation of physical puzzles is important for automatic assembly and disassembly tasks. However, to enable robots to solve physical puzzles, manipulation skills need to be learned, which requires large training… - source: arxiv.org
Safe Obstacle-Free Guidance of Space Manipulators in Debris Removal Missions via Deep Reinforcement Learning - 2025-10-08 - Research Publication - The objective of this study is to develop a model-free workspace trajectory planner for space manipulators using a Twin Delayed Deep Deterministic Policy Gradient (TD3) agent to enable safe and reliable debris capture. A… - source: arxiv.org
Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks - 2025-09-24 - Research Publication - The authors present Diffusion-Based Impedance Learning, a framework that bridges these paradigms by combining generative modeling with energy-consistent impedance control. - source: arxiv.org
Visio-Verbal Teleimpedance Interface: Enabling Semi-Autonomous Control of Physical Interaction via Eye Tracking and Speech - 2025-08-27 - Research Publication - The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interaction. - source: arxiv.org
Riemannian Time Warping: Multiple Sequence Alignment in Curved Spaces - 2025-06-02 - Research Publication - Given its importance for numerous applications in robotics and beyond, the authors introduce Riemannian Time Warping (RTW). - source: arxiv.org
Adaptive Collision Sensitivity for Efficient and Safe Human-Robot Collaboration - 2024-09-30 - Research Publication - Here the authors present a framework that decides whether the robot should interrupt or continue its motion based on estimated collision force computed individually for different parts of the robot body and dynamically on… - source: arxiv.org
Model Predictive Trajectory Optimization With Dynamically Changing Waypoints for Serial Manipulators - 2024-02-07 - Research Publication - This paper presents a novel waypoint model predictive control (wMPC) concept for online replanning tasks. - source: arxiv.org
BoundMPC: Cartesian path following with error bounds based on model predictive control in the joint space - 2024-01-10 - Research Publication - This work introduces the BoundMPC strategy, an innovative online model-predictive path-following approach for robot manipulators. - source: arxiv.org
Bayes Net based highbrid Monte Carlo Optimization for Redundant Manipulator - 2023-12-14 - Research Publication - This paper proposes a Bayes Net based Monte Carlo optimization for motion planning (BN-MCO). - source: arxiv.org
Task-Parameterized Imitation Learning with Time-Sensitive Constraints - 2023-12-06 - Research Publication - To address this problem, the authors propose a novel constrained formulation of the Expectation Maximization algorithm for learning Gaussian Mixture Models (GMM) on Riemannian Manifolds. - source: arxiv.org
LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots - 2023-11-21 - Research Publication - LBR-Stack packages simplify and extend KUKA's Fast Robot Interface for ROS 2 and Python applications with hard real-time requirements. - source: arxiv.org
Fast Kinodynamic Planning on the Constraint Manifold with Deep Neural Networks - 2023-01-11 - Research Publication - This paper introduces a novel learning-to-plan framework that exploits the concept of constraint manifold, including dynamics, and neural planning methods. - source: arxiv.org
A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators - 2022-12-21 - Research Publication - The study proposes a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. - source: arxiv.org
Machine Learning-based Framework for Optimally Solving the Analytical Inverse Kinematics for Redundant Manipulators - 2022-11-08 - Research Publication - The study a real-time framework to compute the analytical inverse kinematics of a redundant robot is presented. - source: arxiv.org
Singularity Avoidance with Application to Online Trajectory Optimization for Serial Manipulators - 2022-11-04 - Research Publication - This work proposes a novel singularity avoidance approach for real-time trajectory optimization based on known singular configurations. - source: arxiv.org
A Combined Inverse Kinematics Algorithm Using FABRIK with Optimization - 2022-09-06 - Research Publication - The study a novel inverse kinematics algorithm that combines FABRIK and the sequential quadratic programming (SQP) algorithm is presented, in which the joint angles deduced by FABRIK will be taken as the initial seed of… - source: arxiv.org
Robot-Assisted Drilling on Curved Surfaces with Haptic Guidance under Adaptive Admittance Control - 2022-07-28 - Research Publication - The study an adaptive admittance controller with 6 degrees of freedom is developed and deployed on a KUKA LBR iiwa 7 cobot such that the operator is able to manipulate a drill mounted on the robot with one hand comfortably… - source: arxiv.org
Effect of Active and Passive Protective Soft Skins on Collision Forces in Human-robot Collaboration - 2022-03-18 - Research Publication - In addition, the authors isolate the effects of the passive padding and the active contribution of the sensor to robot reaction. - source: arxiv.org
Adaptive Gaussian Process based Stochastic Trajectory Optimization for Motion Planning - 2021-12-30 - Research Publication - The authors propose a new formulation of optimal motion planning (OMP) algorithm for robots operating in a hazardous environment, called adaptive Gaussian-process based stochastic trajectory optimization (AGP-STO). - source: arxiv.org
alishbaimran/Multi-Modal-Manipulation - 2021-09-16 - Research Publication - We use self-supervision to learn a compact and multimodal representation of our sensory inputs, which can then be used to improve the sample efficiency of our policy learning. We train a policy in PyBullet (on the a Kuka… - source: github.com
A Suitable Hierarchical Framework with Arbitrary Task Dimensions under Unilateral Constraints for physical Human Robot Interaction - 2021-09-10 - Research Publication - In the last years, several hierarchical frameworks have been proposed to deal with highly-redundant robotic systems. - source: arxiv.org
Incrementally Stochastic and Accelerated Gradient Information mixed Optimization for Manipulator Motion Planning - 2021-08-21 - Research Publication - iSAGO combines stochastic and accelerated gradient optimization and benchmarks narrow-workspace motion planning on an AUBO i5 storage-shelf setup. - source: arxiv.org
Spatial Attention Point Network for Deep-learning-based Robust Autonomous Robot Motion Generation - 2021-03-02 - Research Publication - The study proposes a method robust to changes in object position by automatically extracting spatial attention points in the image for the robot task and generating motions on the basis of their positions. - source: arxiv.org
3D Vision-guided Pick-and-Place Using Kuka LBR iiwa Robot - 2021-02-21 - Research Publication - The paper develops a 3D vision-guided control system for pick-and-place tasks using a robot arm and a 3D camera. - source: arxiv.org
3D Collision-Force-Map for Safe Human-Robot Collaboration - 2020-09-02 - Research Publication - Second, the authors present a data-driven model, 3D Collision-Force-Map, predicting impact forces from distance, height, and velocity and demonstrate that it can be trained on a limited number of data points. - source: arxiv.org
Towards Collaborative Drilling with a Cobot Using Admittance Controller - 2020-07-28 - Research Publication - In this regard, physical human-robot interaction (pHRI) aims to develop natural communication between the partners to bring speed, flexibility, and ergonomics to the execution of complex manufacturing tasks. - source: arxiv.org
Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator - 2020-07-24 - Research Publication - The authors present a global solution to the optimal IK problem for a general serial 7DOF manipulator with revolute joints and a quadratic polynomial objective function. - source: arxiv.org
Real-time collision-detection paper evaluates self-collision checking on Meca500 - 2020-07-23 - Research Publication - Collision detection and collision avoidance are essential components in these systems for safe human-robot interactions. - source: arxiv.org
Robot Object Retrieval with Contextual Natural Language Queries - 2020-06-23 - Research Publication - The authors develop a model to retrieve objects based on descriptions of their usage. - source: arxiv.org
Sim2Real Transfer for Reinforcement Learning without Dynamics Randomization - 2020-02-19 - Research Publication - The study shows how to use the Operational Space Control framework (OSC) under joint and cartesian constraints for reinforcement learning in cartesian space. - source: arxiv.org
Safe physical HRI: Toward a unified treatment of speed and separation monitoring together with power and force limiting - 2019-08-08 - Research Publication - The study combines speed-and-separation monitoring with power-and-force limiting in one collaborative-robot application and evaluates transitions between the two safety regimes. - source: arxiv.org
NariddhKhean/Robotic_Arm_DQN - 2019-06-05 - Research Publication - A training simulation for the 'Kuka LBR iiwa' robotic arm using a deep Q-network. - source: github.com
Transfer Learning for Unseen Robot Detection and Joint Estimation on a Multi-Objective Convolutional Neural Network - 2018-05-30 - Research Publication - The study extends their method to work with a new robot arm - Kuka LBR iiwa, which has a significantly different appearance and an additional joint. - source: arxiv.org
SegICP-DSR: Dense Semantic Scene Reconstruction and Registration - 2017-11-06 - Research Publication - To enable autonomous robotic manipulation in unstructured environments, the authors present SegICP-DSR, a real- time, dense, semantic scene reconstruction and pose estimation algorithm that achieves mm-level pose accuracy… - source: arxiv.org
KUKA Sunrise Toolbox: Interfacing Collaborative Robots with MATLAB - 2017-09-05 - Research Publication - Collaborative robots are increasingly present in their lives. - source: arxiv.org
Automatic Construction of Real-World Datasets for 3D Object Localization using Two Cameras - 2017-07-10 - Research Publication - This paper details a method to create large datasets for 3D object localization, with real world images, using an industrial robot to generate position labels. - source: arxiv.org
Learning local trajectories for high precision robotic tasks : application to KUKA LBR iiwa Cartesian positioning - 2017-01-05 - Research Publication - To ease the development of robot learning in industry, two conditions need to be fulfilled. - source: arxiv.org