Haptics based collaborative steering control in automated driving environments

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Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

The goal of this thesis is to propose pragmatic solutions to real challenges faced in the industry. The scope of this thesis encompasses two subjects: frequency-based structured controller synthesis for linear time-invariant (LTI) systems on one side, and ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

This article summarizes the recent advancements in the design, fabrication, and control of microrobotic devices for the diagnosis and treatment of brain disorders. With a focus on diverse actuation methods, we discuss how advancements in materials science ...

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 ...

Macroscopic fundamental diagrams (MFDs) have been widely adopted to model the traffic flow of large-scale urban networks. Coupling perimeter control and regional route guidance (PCRG) is a promising strategy to decrease congestion heterogeneity and reduce ...

Increasing the capability of automated driving vehicles is motivated by environmental, productivity, and traffic safety benefits. But over-reliance on the automation system is known to cause accidents. The role of the driver cannot be underestimated as it ...

Path-following control is a critical technology for autonomous vehicles. However, time-varying parameters, parametric uncertainties, external disturbances, and complicated environments significantly challenge autonomous driving. We propose an iterative rob ...

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 ...

Accurate human trajectory prediction is crucial for applications such as autonomous vehicles, robotics, and surveillance systems. Yet, existing models often fail to fully leverage the non-verbal social cues human subconsciously communicate when navigating ...

Objective: We predicted that accelerometry would be a viable alternative to electromyography (EMG) for assessing fundamental Transcranial Magnetic Stimulation (TMS) measurements (e.g. Resting Motor Threshold (RMT), recruitment curves, latencies). New Metho ...

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 ...

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 ...

Here, we introduce a design, fabrication, and control methodology for large amplitude torsional microactuators powered by ultrasound. The microactuators are 3D printed from two polymers with drastically different elastic moduli as a monolithic compliant me ...

Haptics based collaborative steering control in automated driving environments

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Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Augmenting locomotor perception by remapping tactile foot sensation to the back

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Frequency domain data-driven robust and optimal control

Implicit Distance Functions: Learning and Applications in Robotics

Small-scale robotic devices for medical interventions in the brain

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

An Iterative Adaptive Dynamic Programming Approach for Macroscopic Fundamental Diagram-Based Perimeter Control and Route Guidance

Haptics based multi-level collaborative steering control for automated driving

Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics

Self-Correcting Quadratic Programming-Based Robot Control

Social-Transmotion: Promptable Human Trajectory Prediction

Accelerometry as a tool for measuring the effects of transcranial magnetic stimulation

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

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

3D printed large amplitude torsional microactuators powered by ultrasound