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Pezzato, C. (author), Hernández, Carlos (author), Bonhof, S.D. (author), Wisse, M. (author)In this article, we propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed approach allows handling partially observable initial states and improves the...journal article 2023
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Spahn, M. (author), Wisse, M. (author), Alonso-Mora, J. (author)Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to dynamic scenarios and nonholonomic robots and prove that fundamental properties can be conserved. We show...journal article 2023
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Mohammadi Gheidari, A. (author), Kieft, E. R. (author), Guo, X. (author), Wisse, M. (author), Kruit, P. (author)In the Multi beam source (MBS) of our Multi Beam Scanning Electron Microscope (MBSEM), an aperture lens array (ALA) splits the emission cone of the Schottky field emitter into multiple beamlets. When the apertures in the ALA are close to each other, the ALA can introduce aberrations to these beamlets through the electrostatic interaction of...journal article 2023
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Tang, Y. (author), Zhu, H. (author), Potters, Susan (author), Wisse, M. (author), Pan, W. (author)This letter addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains stiff contact between the robot and the object to avoid consuming repositioning actions. We prove that...journal article 2023
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Hajee, Bram (author), Wisse, Kees (author), Mohajerin Esfahani, P. (author)Multi-sensor networks are becoming more and more popular in order to assess the post-occupancy performance of smart buildings, since they enable continuous monitoring with a high spatial resolution of the occupancy, thermal comfort and indoor air quality. An urgent, but poorly attended topic in this field is the automated detection of sensor...conference paper 2022
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Gnann, M.V. (author), Wisse, A.C. (author)We consider the thin-film equation ∂th+∂ym(h)∂y3h=0 in {h > 0} with partial-wetting boundary conditions and inhomogeneous mobility of the form m(h) = h 3 + λ 3-n h n , where h ∼ 0 is the film height, λ > 0 is the slip length, y > 0 denotes the lateral variable, and n ϵ (0, 3) is the mobility exponent parameterizing the nonlinear slip...journal article 2022
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Anil Meera, A. (author), Wisse, M. (author)The free energy principle from neuroscience provides an efficient data-driven framework called the Dynamic Expectation Maximization (DEM), to learn the generative model in the environment. DEM’s growing potential to be the brain-inspired learning algorithm for robots demands a mathematically rigorous analysis using the standard control system...conference paper 2022
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Bos, F.R.R.C. (author), Anil Meera, A. (author), Benders, D. (author), Wisse, M. (author)The free energy principle from neuroscience provides a brain-inspired perception scheme through a data-driven model learning algorithm called Dynamic Expectation Maximization (DEM). This paper aims at introducing an exper-imental design to provide the first experimental confirmation of the usefulness of DEM as a state and input estimator for...conference paper 2022
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Anil Meera, A. (author), Wisse, M. (author)The free energy principle (FEP) from neuroscience provides a framework called active inference for the joint estimation and control of state space systems, subjected to colored noise. However, the active inference community has been challenged with the critical task of manually tuning the noise smoothness parameter. To solve this problem, we...conference paper 2022
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Anil Meera, A. (author), Wisse, M. (author)The free energy principle from neuroscience has recently gained traction as one of the most prominent brain theories that can emulate the brain’s perception and action in a bio-inspired manner. This renders the theory with the potential to hold the key for general artificial intelligence. Leveraging this potential, this paper aims to bridge the...journal article 2021
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Ryu, J.K. (author), Katan, A.J. (author), van der Sluis, E.O. (author), Wisse, T. (author), de Groot, Ralph (author), Haering, Christian H. (author), Dekker, C. (author)An amendment to this paper has been published and can be accessed via a link at the top of the paper.journal article 2020
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Pezzato, C. (author), Baioumy, Mohamed (author), Hernández, Carlos (author), Hawes, Nick (author), Wisse, M. (author), Ferrari, Riccardo M.G. (author)We present a fault tolerant control scheme for robot manipulators based on active inference. The proposed solution makes use of the sensory prediction errors in the free-energy to simplify the residuals and thresholds generation for fault detection and isolation and does not require additional controllers for fault recovery. Results...conference paper 2020
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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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Hernández, Carlos (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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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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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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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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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), 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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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