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Robotics and Biology Laboratory

Adrian Sieler

© Felix Noak

Wiss. Mitarbeiter_in

adrian.sieler@tu-berlin.de

+49 30 314-73118

Gebäude MAR
Raum MAR 5.065

Office Hours

Only by appointment.

Projects

© Felix Noak

Dexterous and Sensorized Soft Robotic Hands

Inspired by human grasping and manipulation capabilities, we build anthropomorphic soft robotic hands with a high degree of dexterity to enable robust interactions with the environment. We develop new sensor technologies that work with the highly compliant hands, while still providing useful sensor feedback. At the same time, we further increase the robustness of soft hands by devising control methods that reduce perceptual, model, and motion uncertainty through haptic feedback.

Research Interests

My research focuses on the consequences of the embodiment of a robotic agent to generate robust behavior when interacting with the real world. Particularly dexterous soft robot hands have properties that allow for a new perspective on one of the grand challenges in robotics - autonomous in-hand manipulation. Therefore, I am investigating how to most efficiently use the morphological computation (MC) that the hand performs when physically interacting with the environment to develop new control and planning approaches. Classical analytic and learning-based approaches are not directly applicable because they were developed with a rigid hand paradigm for manipulation in mind. This motivates the investiagtion of a new set of tools to take full advantage of the body's computational power.

Short CV

  • 06.2019 - present
  • 04.2016 - 03.2019
    • MSc Mathematics in Data Science - TU Munich
      • 04.2018 - 12.2018
        Master Thesis, Siemens AG - Corporate Technology: Mechatronic Systems
        Topic: Simulation-Based Reinforcement Learning of Complex Reflexes for Low-Level Robotic Systems
  • 08.2018 - 05.2019
  • 10.2012-04.2016
    • BSc Mathematics - TU Munich
      • 12.2015 - 03.2016  
        Bachelor Thesis
        Topic: Refinement and Coarsening of Online-Offline Data Mining Methods with Sparse Grids
Relevant Resources

Publications

2023

Sieler, Adrian; Brock, Oliver
Dexterous Soft Hands Linearize Feedback-Control for In-Hand Manipulation
Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS)
2023
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Patidar, Sumit; Sieler, Adrian; Brock, Oliver
In-Hand Cube Reconfiguration: Simplified
Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS)
2023
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2021

Bhatt, Aditya; Sieler, Adrian; Puhlmann, Steffen; Brock, Oliver
Surprisingly Robust In-Hand Manipulation: An Empirical Study
Proceedings of Robotics: Science and Systems
Herausgeber: Virtual
Juli 2021
Details anzeigen