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Karsten Knese

In August 2013, I started my Master's thesis in whole body motion control in cooperation with PAL Robotics in Barcelona and was supervised by Dr. Jürgen Sturm. My work integrates the Stack-of-Tasks (SOT) software framework for inverse kinematics into ROS controlled humanoid robots. The main focus hereby lies on external as well as self-collision avoidance in a hierarchical manner to enable a safe and non-conflicting operation of the robot. Since July 2014, I am working at Aldebaran in the perception team.


Masters Thesis
Realizing Online (Self-)Collision Avoidance Based on Inequality Constraints with Hierarchical Inverse Kinematics (K. Knese), Master's thesis, Technical University of Munich, 2014. [bib] [pdf]
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Last edited 28.07.2014 13:04 by sturmju