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Tobias Löw

Tactile Ergodic Coverage on Curved Surfaces

In this article, we present a feedback control method for tactile coverage tasks such as cleaning or surface inspection. Although these tasks are challenging to plan due to the complexity of continuous physical interactions, the coverage target and progres ...

2025

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Sylvain Calinon, Tobias Löw

In this work, we are presenting an extension of the cooperative dual-task space (CDTS) in conformal geometric algebra. The CDTS was first defined using dual quaternion algebra and is a well established framework for the simplified definition of tasks using ...

IEEE2024

Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Sylvain Calinon, Tobias Löw

Many problems in robotics are fundamentally problems of geometry, which have led to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie algebra, and d ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Whole-Body Ergodic Exploration With a Manipulator Using Diffusion

Sylvain Calinon, Tobias Löw

This letter presents a whole-body robot control method for exploring and probing a given region of interest. The ergodic control formalism behind such an exploration behavior consists of matching the time-averaged statistics of a robot trajectory with the ...

Ieee-Inst Electrical Electronics Engineers Inc2023

Tensor train for global optimization problems in robotics

Sylvain Calinon, Tobias Löw, Suhan Narayana Shetty

The convergence of many numerical optimization techniques is highly dependent on the initial guess given to the solver. To address this issue, we propose a novel approach that utilizes tensor methods to initialize existing optimization solvers near global ...

Sage Publications Ltd2023

How Rough Is the Path? Terrain Traversability Estimation for Local and Global Path Planning

Tobias Löw

Perception and interpretation of the terrain is essential for robot navigation, particularly in off-road areas, where terrain characteristics can be highly variable. When planning a path, features such as the terrain gradient and roughness should be consid ...

IEEE Institute of Electrical and Electronics Engineers2022