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Wisse, M. (author), Hobbelen, D.G.E. (author) book chapter 2007
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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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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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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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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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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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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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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), 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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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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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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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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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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Wisse, C.J. (author) doctoral thesis 1999
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Wisse, M. (author)
One of the main challenges in the design of human-like walking robots (useful for service or entertainment applications as well as the study of human locomotion) is to obtain dynamic locomotion, as opposed to the static form of locomotion demonstrated by most of the current prototypes. A promising concept is the idea of passive dynamic walking;...
doctoral thesis 2004
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Wisse, M.E.N. (author)
The major technical challenge the development of next-generation launchers is facing today, is to achieve complete reusability in two stages to orbit or ultimately in one single stage. These Two-Stage-To-Orbit (TSTO) or Single-Stage-To-Orbit (SSTO) Reusable Launch Vehicles (RLV) may reduce payload cost by a factor of ten or more. The challenge,...
doctoral thesis 2005
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Van der Krogt, M.M. (author), Bregman, D.J.J. (author), Wisse, M. (author), Doorenbosch, C.A.M. (author), Harlaar, J. (author), Collins, S.H. (author)
Children with cerebral palsy frequently experience foot dragging and tripping during walking due to a lack of adequate knee flexion in swing (stiff-knee gait). Stiff-knee gait is often accompanied by an overly flexed knee during stance (crouch gait). Studies on stiff-knee gait have mostly focused on excessive knee muscle activity during (pre...
journal article
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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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Vermeulen, M. (author), Wisse, M. (author)
We present a design for a manipulator that is intrinsically mechanically safe, i.e. it can not cause pain (let alone damage) to a human being even if the control system has a failure. Based on the pressure pain thresholds for human skin, we derive a pinching safety constraint that limits the actuator torque, and an impact safety constraint that...
journal article 2010
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