Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes

no code implementations • 12 Apr 2024 • Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer

We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases.

Position

Model Mediated Teleoperation with a Hand-Arm Exoskeleton in Long Time Delays Using Reinforcement Learning

no code implementations • 1 Jul 2021 • Hadi Beik-Mohammadi, Matthias Kerzel, Benedikt Pleintinger, Thomas Hulin, Philipp Reisich, Annika Schmidt, Aaron Pereira, Stefan Wermter, Neal Y. Lii

Telerobotic systems must adapt to new environmental conditions and deal with high uncertainty caused by long-time delays.

Reinforcement Learning (RL)