A Task Specific Kinematic Design Methodology With Application to a 4-DOF Haptic Interface

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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 ...

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Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

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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 ...

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A geometric optimal control approach for imitation and generalization of manipulation skills

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Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

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

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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 ...

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Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

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Online active and dynamic object shape exploration with a multi-fingered robotic hand

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The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

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Many problems in robotics are fundamentally problems of geometry, which have led to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie algebra, and d ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

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During reaching actions, the human central nerve system (CNS) generates the trajectories that optimize effort and time. When there is an obstacle in the path, we make sure that our arm passes the obstacle with a sufficient margin. This comfort margin varie ...

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Acoustic Levitation apparatus (Robotics Practicals)

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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 ...

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Personalized Body-Machine Interfaces for Advanced Human-Robot Interaction

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Robotic systems are becoming more and more pervasive in modern industrial, scientific and personal activities through recent years and will play a fundamental role in the future society. Despite their increasing level of automation, teleoperation is still ...

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