InstituteTeam
M. Sc. Tim-Lukas Habich

M. Sc. Tim-Lukas Habich

M. Sc. Tim-Lukas Habich
M. Sc. Tim-Lukas Habich
Positions
Research Staff
Institute of Mechatronic Systems
Research Staff
Robotics & Autonomous Systems

RESEARCH ACTIVITIES

My research is in the field of medical robotics and deals with hydraulically actuated snake-like robots. A chain of novel hydraulic tilting actuators is designed to realize a manipulator for endoscopic applications, which can intrinsically provide different system stiffnesses. The main research topics in this context are methods of modeling, identification, control and optimal motion planning of multi-body systems.

The research project in detail: Endoscopic procedures for diagnostics and therapy are changing medicine sustainably. Two important factors must be fulfilled for a successful intervention: Good maneuverability is necessary to reach areas that are difficult to access. In addition, the intervention in the target area requires high structural stiffness in order to withstand manipulation forces and provide the doctor with a stable working platform. However, today's endoscopes cannot meet both requirements at the same time. Either purely rigid or purely flexible endoscopes are used, and stiffenable mechanisms are extremely rare - even in research. As a bridge between flexible and rigid robots, a hydraulically actuated, snake-like endoscope will be investigated in the HALEy project.

Further interests lie in the fields of mobile robotics and artificial intelligence. The developed open-source ROS package cmr_lidarloop extends graph-based SLAM methods by recognizing already visited places based on LiDAR data and a trained detector.

CURRENT STUDENT RESEARCH PROJECTS

In addition to the currently advertised work, other topics are available on request. If you are interested in my research project, please feel free to contact me.