This article presents the concept of model predictive interaction control (MPIC) as a generic,
flexible, and comprehensive approach for robotic manipulation tasks. MPIC is based on the …

Many robotic tasks, such as human-robot interactions or the handling of fragile objects,
require tight control and limitation of appearing forces and moments alongside sensible …

In this paper, we propose a model predictive control (MPC) that accomplishes interactive
robotic tasks, in which multiple contacts may occur at unknown locations. To address such …

The control of the interaction force between the environment and the manipulator in safety-
critical scenarios, like surgery, search-and-rescue or industrial plant maintenance, can …

This thesis considers Gaussian processes and their applications in control theory. As a
representative of many algorithms from machine learning, Gaussian processes are able to …

Robot manipulators have been widely used in scientific research and engineering
applications, such as space exploration, mental spinning and polishing, cargo handling …

A quality-related problem at manufacturing sites is the occurrence of sudden disturbances in
the control system caused by variation and fluctuation in materials and machinery. Sudden …

This thesis considers Gaussian processes and their applications in control theory. As a
representative of many algorithms from machine learning, Gaussian processes are able to …