Cutting Down the Energy Consumed by Domestic Robots: Insights from Robotic Vacuum Cleaners

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Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

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 ...

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 ...

Autonomous robots have the potential to fundamentally transform conventional farming methods, e.g. by enabling economically viable farming of sloped arable land. However, navigation on slopes in harsh conditions is challenging for robots as they must be pr ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

Handwriting practising, as any other repetitive task, often leads the practiser to an overconcentration state where their performance might be affected by postural and mental fatigue. Short breaks to perform unrelated activities, especially relaxation exer ...

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

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 ...

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

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 ...

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 ...

One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental samp ...

Cutting Down the Energy Consumed by Domestic Robots: Insights from Robotic Vacuum Cleaners

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Morphological flexibility in robotic systems through physical polygon meshing

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Automation in steep terrain agriculture: an optimal controller to prevent tipping and slipping of tethered robots on slopes

Self-Correcting Quadratic Programming-Based Robot Control

Immediate effects of short-duration wellbeing practices on children’s handwriting and posture guided by a social robot

Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

Exploration-based model learning with self-attention for risk-sensitive robot control

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Language Learning using Caption Generation within Reciprocal Multi-Party Child-Tutor-Tutee Interaction

Learning and optimization of anticipatory feedback controllers for robot manipulation

Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles