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van der Lely, Lars (author)Over nine billion people will have to be fed fresh and healthy food in 2050 according to United Nations. This puts pressure on the horticulture sector, responsible for a large portion of the world’s food production. The literature has shown that automatic optimal control algorithms are able to make better use of resources and can even outperform...master thesis 2022
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Bootsma, B.G.N. (author)This work applies interactive imitation learning for the navigation of a mobile robot. The algorithm"Learning Interactively to Resolve Ambiguity in Sensor Policy Fusion" (LIRA-SPF) is introduced in the field of machine learning for robot navigation. This algorithm extends on existing methods by allowing the ambiguity-free fusion of existing...master thesis 2021
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Kathmann, Y. (author)This thesis aims to combine visual data and distance measurements from a Laser Range Finder (LRF) to recognise the presence of humans. The data from the LRF is used to find regions of interest in order to reduce the load on the visual data analysis. Deep learning convolutional neural networks have shown incredible results on visual recognition...master thesis 2017
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Qiu, Yulei (author)Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as cloth handling, cable routing, surgical operation etc. The sensing in DOM is now considered as one of the major challenges in robotics due to the complex dynamics and high degree of freedom of deformable objects. One challenge is...master thesis 2022
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Boonstra, Dirk-Jan (author)Tactile sensing provides crucial information about the stability of a grasped object by a robotic gripper. Tactile feedback can be used to predict slip, allowing for timely response to perturbations and to avoid dropping objects. Tactile sensors, included in robotic grippers, measure vibrations, strain or shearing forces which are produced by...master thesis 2022
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Zhu, J. (author)The thesis contributes to the pre-collision strategies of robot manipulators by proposing a real-time implementable collision avoidance scheme. The collision is avoided by a braking controller that is activated by a braking trajectory predictor. The predictor provides distances of the end-effector to the object/human in the environment and...master thesis 2015
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Valletta, P. (author)Interactive machine learning describes a collection of methodologies in which a human user actively participates in a novice agent’s learning process, through providing corrective or evaluate feedback or demonstrative actions. A primary assumption in these methods is that user input is at worst nearoptimal, however a realistic set of...master thesis 2020
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Wu, Yen-Lin (author)3D human pose estimation is a widely researched computer vision task that could be applied in scenarios such as virtual reality and human-robot interaction. With the lack of depth information, 3D estimation from monocular images is an inherently ambiguous problem. On top of that, unrealistic human poses have been overlooked in the majority of...master thesis 2021
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Guljelmović, Nikol (author)Task-parameterized movement representation, as an approach for the generalization of demonstrations, is used to represent data from multiple local perspectives within the global reference frame, through which more accurate information about multiple aspects of the movement is given. The estimated transformation between the different perspectives...master thesis 2017
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DU, YURUI (author)In recent years, imitation learning (IL) has been widely used in industry as the core of autonomous vehicle (AV) planning modules. However, previous work on IL planners shows sample inefficiency and low generalisation in safety-critical scenarios, on which they are rarely tested. As a result, IL planners can reach a performance plateau where...master thesis 2022
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van der Wijden, R. (author)New flexible teaching methods for robotics are needed to automate repetitive tasks that are currently still done by humans. For limited batch sizes, it is too expensive to teach a robot a new task (Smith & Anderson, 2014). Ideally, such flexible robots can be taught a new task by a non-expert. A non-expert is a person who knows the task the...master thesis 2016
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Kist, Martijn (author)Pioneering Spirit, Allseas's largest pipelay vessel, will be outfitted with a novel Jacket Lift System (JLS). A jacket refers to the steel frame which supports the topside of a fixed offshore platform. The Pioneering Spirit was already capable of lifting the topsides of offshore platforms, like the former oil platform Brent Delta, but would have...master thesis 2018
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Arunmoli, Karthik Arvind (author)Learning from demonstration is a technique where the robot learns directly from humans. It can be beneficial to learn from humans directly because humans can easily demonstrate complex behaviors without being experts in demonstrating required tasks. However, it can be challenging to gather large amounts of data from humans because humans often...master thesis 2021
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Mészáros, Anna (author)Grasping objects in a smooth humanlike motion, instead of the more typical pick-and-place approach, includes multiple aspects that need to be performed correctly for a successful grasp. These aspects involve moving the end-effector such that its surface makes and retains contact with the object while also coordinating the movement of the gripper...master thesis 2021
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Beeftink, Mart (author)To successfully perform manipulation tasks in an unknown environment, a robot must be able to learn the kinematic constraints of the objects within this environment. Over the years, many studies have investigated the possibility to learn the kinematic models of articulated objects using a Learning from Demonstration (LfD) approach. In the...master thesis 2018
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Van der Laan, T.A. (author)The works [Volodymyr et al. Playing atari with deep reinforcement learning. arXiv preprint arXiv:1312.5602, 2013.] and [Volodymyr et al. Human-level control through deep reinforcement learning. Nature, 518(7540):529–533, 2015.] have demonstrated the power of combining deep neural networks with Watkins Q learning. They introduce deep Q networks ...master thesis 2015
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Avaei, Armin (author)Humans often demonstrate diverse behaviours due to their personal preferences, for instance related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating such preferences into planning of trajectories for robotic manipulators. We first learn<br/>reward functions that represent...master thesis 2021
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de Graaf, Willem (author)Tooth removal is one of the most performed surgical procedures worldwide. Despite the high amount of tooth removal procedures carried out each year, scientific understanding of these procedures is not present. Knowledge of force and torque behaviour is limited and knowledge about movements has never been subject to scientific research before....master thesis 2020
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TSAI, CHIA-YU (author)Deformable objects manipulation (DOM) is largely considered an open problem in robotics. The complexity stems from the high degrees of freedom and nonlinear nature of the object configurations. In this thesis, we consider placing and flattening tasks for cloth-like objects. We propose a practical framework to place a cloth on a surface based on...master thesis 2021
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Mus, D.A. (author)In order to interact with environments and appliances made for humans, robots should be able to manipulate a large variety of objects and appliances in human environments. When having experience with manipulating a certain object or appliance, a robot should be able to generalize this behaviour to novel, but similar objects and appliances. When...master thesis 2017