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van der Spaa, L.F. (author), Wolfslag, W.J. (author), Wisse, M. (author)
In electrically actuated robots most energy losses are due to the heating of the actuators. This energy loss can be greatly reduced with parallel elastic actuators, by optimizing the elastic element such that it delivers most of the required torques. Previously used optimization methods relied on parameterizing the spring characteristic,...
journal article 2019
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Calli, B. (author), Caarls, W. (author), Wisse, M. (author), Jonker, P.P. (author)
In this paper, a novel active vision strategy is proposed for optimizing the viewpoint of a robot's vision sensor for a given success criterion. The strategy is based on extremum seeking control (ESC), which introduces two main advantages: 1) Our approach is model free: It does not require an explicit objective function or any other task...
journal article 2018
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Hernandez Corbato, C. (author), Bharatheesha, M. (author), van Egmond, J.A. (author), Ju, J. (author), Wisse, M. (author)
This article describes Team Delft's robot winning the Amazon Robotics Challenge 2016. The competition involves automating pick and place operations in semi-structured environments, specifically the shelves in an Amazon warehouse.<br/>Team Delft's entry demonstrated that current robot technology can already address most of the challenges in...
journal article 2018
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Calli, B. (author), Caarls, W. (author), Wisse, M. (author), Jonker, P.P. (author)
Grasp synthesis for unknown objects is a challenging problem as the algorithms are expected to cope with missing object shape information. This missing information is a function of the vision sensor viewpoint. The majority of the grasp synthesis algorithms in literature synthesize a grasp by using one single image of the target object and...
journal article 2018
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Lei, Q. (author), Chen, G. (author), Meijer, Jonathan (author), Wisse, M. (author)
Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate...
journal article 2018
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Lei, Q. (author), Chen, G. (author), Wisse, M. (author)
Fast grasping of unknown objects has crucial impact on the efficiency of robot manipulation especially subjected to unfamiliar environments. In order to accelerate grasping speed of unknown objects, principal component analysis is utilized to direct the grasping process. In particular, a single-view partial point cloud is constructed and...
journal article 2017
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Plooij, M.C. (author), Wolfslag, W.J. (author), Wisse, M. (author)
This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots, and robotic arms have shown the ability to reduce the energy consumption and motor requirements, such as peak torque and peak power. Because of those...
journal article 2017
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Meijer, Jonathan (author), Lei, Q. (author), Wisse, M. (author)
This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are...
conference paper 2017
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Lei, Q. (author), Meijer, Jonathan (author), Wisse, M. (author)
This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are...
conference paper 2017
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Meijer, Jonathan (author), Lei, Q. (author), Wisse, M. (author)
This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the...
conference paper 2017
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Lei, Q. (author), Wisse, M. (author)
Grasping of unknown objects with neither appearance data nor object models given in advance is very important for robots that work in an unfamiliar environment. The goal of this paper is to quickly synthesize an executable grasp for one unknown object by using cylinder searching on a single point cloud. Specifically, a 3D camera is first used to...
conference paper 2017
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Plooij, M.C. (author), Wisse, M. (author), Vallery, H. (author)
Parallel elastic actuators (PEAs) have shown the ability to reduce the energy consumption of robots. However, regular PEAs do not allow us to freely choose at which instant or configuration to store or release energy. This paper introduces the concept and design of the bidirectional clutched parallel elastic actuator (BIC-PEA), which reduces...
journal article 2016
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Lei, Q. (author), Wisse, M. (author)
The current research trends of object grasping can be summarized as caging grasping and force closure grasping. The motivation of this paper is to combine the advantage of caging grasping and force closure grasping to enable under-actuated grippers like the Lacquey gripper and the parallel grippers like the PR2 gripper to quickly grasp the...
conference paper 2016
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Lei, Q. (author), Wisse, M. (author)
Reducing the grasp candidates for unknown object grasping while maintaining grasp stability is the goal of this paper. In this paper, we propose an efficient and straight forward unknown object grasping method by using concavities of the unknown objects to significantly reduce the grasp candidates. Shortest path concavity is first employed to...
conference paper 2016
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Van den Dobbelsteen, A.A.J.F. (author), Wisse, K. (author), Doepel, D. (author), Tillie, N.M.J.D. (author)
Cities need to become independent from finite resources, among which fossil fuels. There is great potential to save energy is many cities, however the generation of power is insufficient due to the limited space as a result of urban densities. An energy source less commonly explored is reuse of waste heat from various urban functions. In that...
conference paper 2013
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Bregman, D.J.J. (author), Van der Krogt, M.M. (author), De Groot, V. (author), Harlaar, J. (author), Wisse, M. (author), Collins, S.H. (author)
Background In stroke and multiple sclerosis patients, gait is frequently hampered by a reduced ability to push-off with the ankle caused by weakness of the plantar-flexor muscles. To enhance ankle push-off and to decrease the high energy cost of walking, spring-like carbon-composite Ankle Foot Orthoses are frequently prescribed. However, it is...
journal article 2011
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Van den Dobbelsteen, A.A.J.F. (author), Tillie, N.M.J.D. (author), Fremouw, M. (author), Wisse, K. (author), Doepel, D. (author), Genten, L. (author), Van Dorst, M.J. (author), Hobma, F.A.M. (author), Daamen, T.A. (author)
Rapport in opdracht van de Gemeente Rotterdam, Projectbureau Stadshavens.
report 2011
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Meijneke, C. (author), Kragten, G.A. (author), Wisse, M. (author)
The Delft Hand 2 (DH-2) is an underactuated robot hand meant for industrial applications, having six degrees of freedom (DoF), one actuator (DoA) and no sensors. It was designed to provide a cheap and robust hand to grasp a large range of objects without damaging them. The goal of this paper is to assess the design and performance of the DH-2,...
journal article 2011
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Wisse, M. (author), Wilbers, F. (author), Meijneke, C. (author)
Artificial hand (1) suitable for robotic applications or as a prosthesis, comprising a frame (2) with a thumb (3) and at least two fingers (4,5), and having a motor drive (6) for adjusting the thumb and the fingers with respect to the frame, wherein the motor drive has a housing (7) and an axle (8) which is rotatably positioned within the...
patent 2011
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Schuitema, E. (author), Caarls, W. (author), Wisse, M. (author), Jonker, P.P. (author), Babuska, R. (author)
Reinforcement Learning is a promising paradigm for adding learning capabilities to humanoid robots. One of the difficulties of the real world is the presence of disturbances. In Reinforcement Learning, disturbances are typically dealt with stochastically. However, large and infrequent disturbances do not fit well in this framework; essentially,...
conference paper 2010
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