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Pezzato, Corrado (author)
Dealing with inherently unmodeled dynamics and large parameter variations or faults, is a challenging task while controlling robot manipulators. Classical control techniques cannot usually provide satisfactory responses, and often external supervision systems have to be designed to handle the faults. Recent research has shown that active...
master thesis 2019
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Hoeba, Nirul (author)
Joint limits and singularities limit the total and intuitive utilization of the robotic workspace in VR mediated teleoperation. This paper presents the development and validation of a novel null-space projection control method, used to adjust joint configurations of teleoperated robot arms containing joint limits and singularities. The novel...
master thesis 2019
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van Vucht, Victor (author)
Active inference is a method for state estimation and control actions that is based on the Free Energy principle, which explains how biological agents infer the state of their environment and act upon it by maintaining a model of that environment and evaluating predictions. This method merges both action and sensory processing and is therefore a...
master thesis 2021
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Helsloot, Arthur (author)
Robotically manipulating objects can be very challenging when not all of the environment can be fully observed, e.g. in environments which are physically and visually accessible from only a single side. By using multimodal sensory feedback and symbolic reasoning, conclusions can be drawn about the presence of objects that cannot be observed...
master thesis 2020
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