Sebastian Erhart
Papers
7
Total Citations
379
H-Index
6
About
Sebastian Erhart’s research lies at the intersection of cooperative multi-robot manipulation, impedance control, and human-robot interaction. His major contributions center on solving the fundamental challenge of how multiple robotic manipulators can work together to handle a common object without damaging it or themselves. His work on internal force analysis and load distribution (113 citations) provides a rigorous framework for allocating force and torque setpoints across a robot team, while his impedance-based control architecture (92 citations) offers a practical method for coordinating dual-arm mobile manipulators. Erhart’s analysis of interaction dynamics in cooperative tasks (91 citations) has become a foundational reference for understanding the complex forces that arise when multiple robots grasp and move objects together. He has also explored adaptive control strategies to handle uncertain kinematic parameters and pioneered the use of wearable motion sensors for grasp pose estimation in human-robot collaboration. His decoupling scheme for force control (2022) represents a novel approach to managing internal forces in manipulator ensembles. With over 350 total citations, Erhart’s work is essential reading for anyone designing multi-robot systems for manufacturing, construction, or service robotics.
Research Focus
Key Achievements
Top Papers
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- 4Dynamic load distribution in cooperative manipulation tasks35 citations · 2015
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