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Prendergast, J.M. (author), Balvert, Stephan (author), Driessen, Tom (author), Seth, A. (author), Peternel, L. (author)In this work, we explore using computational musculoskeletal modeling to equip an industrial collaborative robot with awareness of the internal state of a patient to safely deliver physical therapy. A major concern of robot-mediated physical therapy is that robots may unwittingly injure patients. For patients with shoulder injuries this...journal article 2021
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Roy, Spandan (author), Baldi, S. (author), Li, Peng (author), Narayanan, Viswa (author)Artificial-delay control is a method in which state and input measurements collected at an immediate past time instant (i.e. artificially delayed) are used to compensate the uncertain dynamics affecting the system at the current time. This work formulates an artificial-delay control method with adaptive gains in the presence of nonlinear ...journal article 2021
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Derner, Erik (author), Kubalik, Jiri (author), Babuska, R. (author)Continual model learning for nonlinear dynamic systems, such as autonomous robots, presents several challenges. First, it tends to be computationally expensive as the amount of data collected by the robot quickly grows in time. Second, the model accuracy is impaired when data from repetitive motions prevail in the training set and outweigh...journal article 2021
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Basalp, Ekin (author), Wolf, Peter (author), Marchal Crespo, L. (author)The use of robots has attracted researchers to design numerous haptic training methods to support motor learning. However, investigations of new methods yielded inconclusive results regarding their effectiveness to enhance learning due to the diversity of tasks, haptic designs, participants skill level, and study protocols. In this review, we...review 2021
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van Adrichem, R.C. (author), Jovanova, J. (author)As machines and robots become a increasingly larger part of society, it is important that they are fully accepted. If the machines are not utilized as intended, it is not only a waste of time and energy, but also of valuable resources. This acceptance by humans of robots is based on how well the interaction with robots is trusted. Trust of...conference paper 2021
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Chen, Zhe (author), Alonso-Mora, J. (author), Bai, X. (author), Harabor, Daniel Damir (author), Stuckey, Peter James (author)Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of automated warehouse logistics and automated mail sortation, MAPD requires first deciding which robot is...journal article 2021
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de Groot, O.M. (author), Ferreira de Brito, B.F. (author), Ferranti, L. (author), Gavrila, D. (author), Alonso-Mora, J. (author)We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by incorporating chance constraints into the planning problem. This problem is not suitable for online optimization...journal article 2021
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Wu, Di (author), Zhang, Yao (author), Ourak, Mouloud (author), Niu, Kenan (author), Dankelman, J. (author), Vander Poorten, Emmanuel B. (author)Catheters are increasingly being used to tackle problems in the cardiovascular system. However, positioning precision of the catheter tip is negatively affected by hysteresis. To ensure tissue damage due to imprecise positioning is avoided, hysteresis is to be understood and compensated for. This work investigates the feasibility to model...journal article 2021
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Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control ActionsDella Santina, C. (author), Calzolari, Davide (author), Giordano, Alessandro Massimo (author), Albu-Schaffer, Alin (author)Eigenmanifolds are two-dimensional submanifolds of the state space, which generalize linear eigenspaces to nonlinear mechanical systems. Initializing a robot on an Eigenmanifold (or driving it there by control) yields hyper-efficient and regular oscillatory behaviors, called modal oscillations. This letter investigates the possibility of...journal article 2021
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Bonacchi, Luigi Bono (author), Roa, Maximo A. (author), Sesselmann, Anna (author), Loeffl, Florian (author), Albu-Schaffer, Alin (author), Della Santina, C. (author)Introducing elasticity in the mechanical design can endow robots with the ability of performing efficient and effective periodic motions. Yet, devising controllers that can take advantage of such elasticity is still an open challenge. This letter tackles an instance of this general problem, by proposing a control architecture for executing...journal article 2021
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Zhu, H. (author), Martinez Claramunt, Francisco (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots to achieve predictive collision avoidance. These motion predictions can be obtained among robots by...journal article 2021
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Della Santina, C. (author), Albu-Schaeffer, Alin (author)Nonlinear modes are a well investigated concept in dynamical systems theory, extending the celebrated modal analysis of linear mechanical systems to nonlinear ones. This letter moves a first step in the direction of combining control theory and nonlinear modal analysis towards the implementation of hyper-efficient oscillatory behaviors in...journal article 2021
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Trumic, Maja (author), Della Santina, C. (author), Jovanovic, Kosta (author), Fagiolini, Adriano (author)Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid...journal article 2021
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Kulhanek, Jonas (author), Derner, Erik (author), Babuska, R. (author)Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing, localization, and planning in one module, which can be trained and therefore optimized for a given environment....journal article 2021
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Domhof, J.F.M. (author), Kooij, J.F.P. (author), Gavrila, D. (author)We address joint extrinsic calibration of lidar, camera and radar sensors. To simplify calibration, we propose a single calibration target design for all three modalities, and implement our approach in an open-source tool with bindings to Robot Operating System (ROS). Our tool features three optimization configurations, namely using error...journal article 2021
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Ferreira de Brito, B.F. (author), Everett, Michael (author), How, Jonathan Patrick (author), Alonso-Mora, J. (author)Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local trajectory optimization methods, such as model predictive control (MPC), can deal with those changes but require...journal article 2021
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Tavčar, Jože (author), Horvath, I. (author)Smart cyber-physical systems (S-CPSs) are complex engineered systems empowered by cyber-physical computing and equipped with the capability of reasoning, learning, adapting, and evolving. As an outcome of data-driven dynamic computing, reasoning capabilities, and the run-time obtained own knowledge, nonlinear and emergent behavior of S-CPSs...journal article 2019
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Robbins-van Wynsberghe, A.L. (author), Comes, M. (author)There are two dominant trends in the humanitarian care of 2019: the ‘technologizing of care’ and the centrality of the humanitarian principles. The concern, however, is that these two trends may conflict with one another. Faced with the growing use of drones in the humanitarian space there is need for ethical reflection to understand if this...journal article 2019
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Liu Cheng, Alexander (author), Bier, H.H. (author), Mostafavi, Sina (author)This paper presents a new instance in a series of discrete proof-of-concept implementations of comprehensively intelligent built-environments based on Design-to-Robotic-Production and -Operation (D2RP&O) principles developed at Delft University of Technology (TUD). With respect to D2RP, the featured implementation presents a customized...conference paper 2017
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Kuijpers, E.A. (author)Existing robot vision algorithms are evaluated for application in space for proximity extraction using one camera. Lighting conditions and image formation differ from earth conditions which have implications. An algorithm is derived which is based on the use of run coding, tracking and a least mean error method. Problems concerning hardware...report 1987