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van Spaandonk, V. (author)
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...
master thesis 2016
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Otten, Mattijs (author)
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...
master thesis 2017
document
de Goede, Nick (author)
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...
master thesis 2017
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Liscio, Enrico (author)
Autonomous grasping is a key requisite for the autonomy of robots.<br/>However, grasping of unknown objects in domestic environments is difficult due to the presence of unpredictability and clutter.<br/>In this paper, a novel algorithm capable of finding an unobstructed grasping pose on unknown regular object shapes in cluttered environments is...
master thesis 2017
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Chawla, Hemang (author)
The development of domestic mobile manipulators for unconstrained environments has driven significant research recently. Robot Care Systems has been pioneering in developing a prototype of a mobile manipulator for elderly care. It has a 6 degrees of freedom robotic arm mounted on their flagship robot LEA, a non-holonomic differential drive...
master thesis 2017
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Leest, Steven (author)
Robotic behavior policies learned in simulation suffer from a performance degradation once transferred to a real-world robotic platform. This performance degradation originates from discrepancies between the real-world and simulation environment, referred to as the reality gap. To cross the reality gap, this papers presents a simple...
master thesis 2017
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Vyas, Shubham (author)
Teleoperation allows the use of human intelligence and decision making in remote tasks which are too dangerous for humans to perform. Technologies such as force feedback and haptic guidance have shown to increase task efficiency during teleoperation. In an unmodeled environment, sensors provide input for haptic guidance or present extra...
master thesis 2018
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Peuchen, Robert (author)
Body weight support (BWS) systems are widely used in gait rehabilitation. These systems allow patients to gradually increase training intensity and promote independent walking. Currently, there is no standardized method to assess the performance of BWS systems. This work proposes methods and metrics that can be used to assess and compare any...
master thesis 2018
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Anil Meera, Ajith (author)
Target search in an obstacle filled environment is a practically relevant challenge in robotics that has a huge impact in the society. The wide range of applications include searching for victims in a search and rescue operation, detecting weeds in precision agriculture, patrolling borders for military and navy, automated census of endangered...
master thesis 2018
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Cherici, Teo (author)
Recent advancements in computation power and artificial intelligence have allowed the creation of advanced reinforcement learning models which could revolutionize, between others, the field of robotics. As model and environment complexity increase, however, training solely through the feedback of environment reward becomes more difficult. From...
master thesis 2018
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Galli, Marco (author)
Explores the possibility of developing robotic building system and long-duration architecture solutions with the aim to re-settle post disaster environments, through digital driven design parameters, material and numeric controlled technology research and experimentation through scale models and prototypes
master thesis 2018
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Geerlings, Nathalie (author)
Automation of pipe inspections by using robots has many advantages over manual pipe inspection, such as faster, more consistent and more accurate inspection. For this reason the pipe inspection robot PIRATE is being developped by the University of Twente.<br/><br/>In this project the first goal is to design a high-level control layer, which...
master thesis 2018
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Hoogerwerf, Eert (author)
Human-robot collaboration can be improved if the motions of the robot are more legible and predictable. This can be achieved by making the motions more human-like. It is assumed that humans move optimal with respect to a certain objective or cost function. To find this function an inverse optimal control approach is developed. It uses a bilevel...
master thesis 2018
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Crepy-Marglais, Jean-Daniel (author)
Nowadays, a satellite is considered as out of range forever once it is launched. This may soon no longer hold thanks to on-orbit servicing. However, the complexity of that topic makes it highly challenging on many aspects. On-orbit servicing using a robotic arm is nonetheless the most investigated technology in order to achieve the berthing of...
master thesis 2018
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van der Horst, Joren (author)
At this moment, industrial robot arms are increasingly used to automate manufacturing processes in the aerospace industry. However, these robot arms lack position accuracy to effectively mill parts or assemble products. In this work, this gap is investigated following two approaches; on one hand existing calibration methods of robot arms are...
master thesis 2019
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Gudmundsson, Kjartan (author)
Tensegrity is a structural form that is defined as a set of rigid elements suspended in a net of continuous tension. This structure shows potential for compliance, impact tolerance and mechanical robustness. However, its non-linear coupled dynamics and often complex geometry require advanced control strategies. An actuator reference planning...
master thesis 2019
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Noordervliet, Norman (author)
English - Language (scroll down for Dutch) Various technologies in the domain of digital fabrication have been introduced in the construction industry to promote efficiency. This thesis provides a platform for reviewing 3-d construction printing technology. This thesis explored the barriers that make the adoption of 3-d printing technology in...
master thesis 2019
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Schonebaum, Johan (author)
Running robots at insect scale are an upcoming research field, because of their numerous potential applications like exploration of hazardous environments such as collapsed buildings, natural disaster sites and debris. To date no report exists on such a robot that either exploits its resonance, or that is monolithic. These properties, however,...
master thesis 2019
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Mazouz, Rayan (author)
Autonomously landing a spacecraft on the surface of a planetary body with a degree of precision in the order of meters is highly challenging. Over the course of time, the landing ellipse, defined as the region with a 99% likelihood of where a space vehicle will land, has improved steadily but currently still has dimensions in the order of...
master thesis 2019
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Donadoni, Laura (author)
The use of social robots increased in the past few years. Current technology, however, lacks in deploying a single robot for different applications without the help of a human being. Current solutions are time-consuming, labour intensive and hard to generalize. Being aware of its surroundings, in terms of environment and context, the robot can...
master thesis 2019
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