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Articles by Michael Panzirsch
Human position sense and the role of gravitational torque: a parabolic flight study
Abstract An important issue in spaceflight is the loss of sensory information associated with malfunction of the proprioceptive system. Specifically, in microgravity, astronauts become uncertain about the positions of their limbs if they cannot see them. We have recently been studying limb position sense during altered gravity conditions and demonstrated that this becomes degraded, most probably because of the changed gravitational torque at limb joints.
Perceptual-based Method for Mitigating Force Chattering in Time Domain Passivity Approach
Time-delay in bilateral teleoperation systems often leads to passivity violations, necessitating the use of stability controllers. Time domain passivity approach has garnered attention within the haptics and tele-robotics field, due to demonstrating significant robustness while being less conservative compared to other passivity-based approaches. However, it's affected by two types of artifacts, namely position drift and high-frequency force vibration.
Virtual elasto-plastic robot compliance to active environments
Abstract Humans exhibit a particular compliant behavior in interactions with their environment. Facilitated by fast physical reasoning, humans are able to rapidly alter their compliance, enhancing robustness and safety in active environments. Transferring these capabilities to robotics is of utmost importance particularly as major space agencies begin investigating the potential of cooperative robotic teams in space.
Position synchronization through the energy-reflection based time domain passivity approach in position-position architectures
Position synchronization is a primary control challenge in the delayed coupling of robotic systems. While in tele-operation, the interaction force of the robot is often the preferred feedback for high degrees of transparency, positions are exchanged in the coupling of autonomous systems for improved position matching. This letter proposes the extension of the energy-reflection based Time Domain Passivity Approach to position-position control for delayed coupled network systems.
Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling without Sacrificing Performance
The application of the position-position architecture for enabling position synchronization of two robotic agents has been proven effective in the fields of telemanipulation and rendezvous of autonomous vehicles. Nevertheless, the approaches presented to this date with the purpose of rendering the position-position architecture passive under the presence of time-delays and packet-loss are only partially able to fulfil that goal.
Robots at the Beijing 2022 Winter Olympics
Information & Authors Information Published In Science Robotics Volume 7 | Issue 65 April 2022 Copyright Copyright © 2022 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works. This is an article distributed under the terms of the Science Journals Default License. Submission history Received: 16 March 2022 Accepted: 4 April 2022 Permissions Request permissions for this article.
A DNA molecular printer capable of programmable positioning and patterning in two dimensions
Abstract Supplementary Materials REFERENCES AND NOTES Abstract Nanoscale manipulation and patterning usually require costly and sensitive top-down techniques such as those used in scanning probe microscopies or in semiconductor lithography. DNA nanotechnology enables exploration of bottom-up fabrication and has previously been used to design self-assembling components capable of linear and rotary motion.
Cooperative cargo transportation by a swarm of molecular machines
Information Published In Science Robotics Volume 7 | Issue 65 April 2022 Copyright Copyright © 2022 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works. This is an article distributed under the terms of the Science Journals Default License. Submission history Received: 21 September 2021 Accepted: 23 March 2022 Permissions Request permissions for this article. Acknowledgments We acknowledge A.
Exploring planet geology through force-feedback telemanipulation from orbit
Michael Panzirsch https://orcid.org/0000-0002-0647-7147 michael.panzirsch@dlr.deAaron PereiraHarsimran Singh https://orcid.org/0000-0002-6735-9945 michael.panzirsch@dlr.deBernhard WeberEdmundo FerreiraAndrei Gherghescu https://orcid.org/0000-0002-0979-1414Lukas HannEmiel den ExterFrank van der Hulst https://orcid.org/0000-0002-7063-1014Levin Gerdes https://orcid.org/0000-0001-7648-8928Leonardo Cencetti https://orcid.org/0000-0002-8357-8451Kjetil WormnesJessica Grenouilleau...
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