- document
-
Zwinkels, Stan (author)In household and retail store environments, humans efficiently identify grasp regions of an object to perform everyday tasks. To enable robots to understand the requirements of a task and the properties of an object, a novel grasp framework, called the Shape Primitive and Reasoning Grasping Engine (SPaRGE), is proposed in this thesis. SPaRGE...master thesis 2023
- document
-
Teaching bimanual dexterous manipulations with interactive demonstrations and reinforcement learningDu, Zheyu (author)Robot dexterous manipulation research has drawn more attention in recent years since the development of various learning methods makes it possible for robots to achieve dexterity at the human level. Many attempts have been made to integrate human knowledge into Reinforcement Learning (RL) processes for faster learning speed and better...master thesis 2023
- document
-
Varga, Roland (author)Many recent robot learning problems, real and simulated, were addressed using deep reinforcement learning. The developed policies can deal with high-dimensional, continuous state and action spaces, and can also incorporate machine-generated or human demonstration data. A great number of them depend on state-action value estimates, especially the...master thesis 2023
- document
-
Rahimi, A. Masie (author), Hardon, S.F. (author), Willuth, E. (author), Lang, F. (author), Haney, Caelan M. (author), Felinska, Eleni A. (author), Kowalewski, Karl Friedrich (author), Müller-Stich, Beat P. (author), Horeman, T. (author), Nickel, F. (author), Daams, Freek (author)Introduction: Although robotic-assisted surgery is increasingly performed, objective assessment of technical skills is lacking. The aim of this study is to provide validity evidence for objective assessment of technical skills for robotic-assisted surgery. Methods: An international multicenter study was conducted with participants from the...journal article 2023
- document
-
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
- document
-
Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft RobotsRiccardi, A. (author), Furtado, Guilherme P. (author), Sikorski, Jakub (author), Vendittelli, Marilena (author), Misra, Sarthak (author)The actuation of miniaturized robots through external magnetic fields has great potential for medical applications. The controllability properties of the miniaturized robots are affected by magnetic field generation modality. In this work, the magnetic field of a mobile electromagnet, notably capable to generate a desired magnetic field in...journal article 2023
- document
-
Robertson, P.D. (author), van Duijn, Matthijs (author), Arezzo, Alberto (author), Mintz, Yoav (author), Horeman, T. (author)Background: During laparoscopic surgery, CO<sub>2</sub> insufflation gas could leak from the intra-abdominal cavity into the operating theater. Medical staff could therefore be exposed to hazardous substances present in leaked gas. Although previous studies have shown that leakage through trocars is a contributing factor, trocar performance...journal article 2023
- document
-
Rodriguez Hernandez, K.E. (author), de Groot, J.H. (author), Baas, Frank (author), Stijntjes, M. (author), Grootendorst, E.R.M. (author), Schiemanck, S.K. (author), van der Helm, F.C.T. (author), van der Kooij, H. (author), Mugge, W. (author)Individuals with an upper motor neuron syndrome, e.g., stroke survivors, may have a pathological increase of passive ankle stiffness due to spasticity, that impairs ankle function and activities such as walking. To improve mobility, walking aids such as ankle-foot orthoses and orthopaedic shoes are prescribed. However, these walking aids...journal article 2023
- document
-
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
- document
-
Matusovic, Marko (author), Parakkat, Amal Dev (author), Eisemann, E. (author)We introduce an approach for converting pixel art into high-quality vector images. While much progress has been made on automatic conversion, there is an inherent ambiguity in pixel art, which can lead to a mismatch with the artist's original intent. Further, there is room for incorporating aesthetic preferences during the conversion. In...journal article 2023
- document
-
Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)The regulatory endorsement of the International Maritime Organization (IMO) and the support of pivotal shipping market players in recent years motivate the investigation of the potential role that autonomous vessels play in the shipping industry. As the complexity and scale of the envisioned applications increase, research works gradually...review 2023
- document
-
Koene, Robbert (author), Meijaard, J.P. (author), van de Ruit, M.L. (author), Mugge, W. (author), van der Wijk, V. (author)Humans vary the stiffness in their joints depending on tasks and circumstances. For posture control a high joint stiffness is required to withstand perturbations, whereas for force control a low joint stiffness is required. To investigate how humans vary their joint stiffness precisely for moving an arm, a wearable device is needed that can...conference paper 2023
- document
-
Nosyk, Yevheniya (author), Lone, Qasim (author), Zhauniarovich, Y. (author), Hernandez Ganan, C. (author), Aben, Emile (author), Moura, Giovane C. M. (author), Tajalizadehkhoob, Samaneh (author), Duda, Andrzej (author), Korczyński, Maciej (author)DNS is a protocol responsible for translating human-readable domain names into IP addresses. Despite being essential for many Internet services to work properly, it is inherently vulnerable to manipulation. In November 2021, users from Mexico received bogus DNS responses when resolving whatsapp.net. It appeared that a BGP route leak diverged DNS...conference paper 2023
- document
-
Klenk, M.B.O.T. (author)A series of recent papers raises worries about the manipulative potential of algorithmic transparency (to wit, making visible the factors that influence an algorithm’s output). But while the concern is apt and relevant, it is based on a fraught understanding of manipulation. Therefore, this paper draws attention to the ‘indifference view’ of...journal article 2023
- document
-
Sedlar, Jiri (author), Stepanova, Karla (author), Skoviera, Radoslav (author), Behrens, Jan K. (author), Tuna, Matus (author), Sejnova, Gabriela (author), Sivic, Josef (author), Babuska, R. (author)This letter introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their performance is usually limited for heavily occluded objects, which is a common case in imitation learning...journal article 2023
- document
-
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
- document
-
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
- document
-
Potters, Susan (author)Mobile robots are getting more common in warehouses, distribution centers and factories, where they are used to boost productivity. At the same time, they are moving into the everyday world, where they need to operate in uncontrolled and cluttered environments. In order to extend the set of tasks that a robot can autonomously accomplish in such...master thesis 2022
- document
- van Dinther, Kitty (author) master thesis 2022
- document
-
Liu, Jingyue (author)Soft robots are made of compliant materials, which increase their flexibility but also presents modeling challenges. The difficulty mainly comes from material nonlinearity, infinite degrees of freedom, uncertain parameters, and complex calculations. This project uses physics-inspired neural networks to solve the last two problems. Based on the...master thesis 2022