Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...
Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...
The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...
Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects ...
The following data contain the information and files, which are required to recreate and build the experimental setup that is described in the Laboratory manual. Further details can be found in the associated publication “A graduate laboratory experiment t ...
Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...
There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...
Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Commercial devices usually use a two-recording-channel system placed on specific muscles to control a single degree of fr ...
Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...
Reciprocal Peer Tutoring (RPT) is a learning paradigm characteristic of collaborative interaction between learners with alternating tutortutee roles. In recent years, robot-assisted language learning (RALL) has gained traction by its wide application for l ...
Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...
