Haptic Feedback in Master-Slave Robotic Laparoscopic Surgery

Commercially available laparoscopic surgical robots are not currently equipped with force feedback. This may lead to unnecessary tissue damage when gripping tissue in a laparascopic procedure, as shown in a prior literature study. The goal of this MSc thesis project is the implementation of haptic feedback in a prototype of a master-slave...

DeciZebro: the design of a modular bio-inspired robotic swarming platform

Within this report is described the process of designing a new Zebro robot for the TU Delft Robotics Institute. Zebro is a six-legged robot specifically intended to become one of the first truly autonomous swarming robots on earth. The specific aim of this project was to design Zebro to become ready for series production, and to become a robotic...

Card Payment Testing

Every development roll-out, there needs to be certainty everything works. Especially when it comes to the banking domain. People care about their money and want it to be handled with care. Currently this means some tests, including making a payment using a Maestro debit card, need to be performed manually. In order to further testing, this...

Obstacle and Cliff Detection for Robotics Applications Using Miniturized Sonar and IR Distance Triangulation: Environment Observation Module For The Deci Zebro

This is a bachelor thesis about the design and development of an observation and sensing module for the Deci Zebro robot that is being developed at the EEMCS faculty of Delft University of Technology.<br/>This part of the thesis is about the development of a cliff- and obstacle detection system, as well as the...

Learning Variable Impedance Control: A Model-Based Approach Using Gaussian Processes

Modern robotic systems are increasingly expected to interact with unstructured and unpredictable environments. This has reiterated the importance of sophisticated reasoning and adaptive motor skill learning. Although low-level methodologies for sensorimotor control have been relatively well studied, constrained motion for robotic manipulators in...