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A method for inducing the feeling of a presence (FoP) in a subject by using a master-slave robotic system, the method including the steps of altering a visual perception of a surrounding environment of the subject, connecting the subject with a robotic mas ...
This paper is aimed at developing optimal motion planning for a single autonomous surface vehicle (ASV) equipped with an on-board pollutant sensor that will maximize the sensor-related information available for source seeking. The ASV uses a nonlinear diff ...
We present a framework for online coordinated obstacle avoidance with formal safety guarantees. Such a formally verified trajectory planner can be used in shared human-robot workspaces to guarantee safety. The obstacle avoidance is based on estimation of t ...
This paper contributes a novel framework that enables a robotic agent to efficiently learn and synthesize believable handwriting motion. We situate the framework as a foundation with the goal of allowing children to observe, correct and engage with the rob ...
Many robotic applications, such as milling, gluing, or high precision measurements, require the precise following of a predefined geometric path. We investigate the real-time feasible implementation of model predictive path-following control for an industr ...
Institute of Electrical and Electronics Engineers2016
Path-following tasks, which refer to dynamic motion planning along pre-specified geometric references, are frequently encountered in applications such as milling, robot-supported measurements, and trajectory planning for autonomous vehicles. Different conv ...
This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...
Quadrupedal robots have been a field of interest the last few years, with many new maturing platforms. Many of these projects have in common the use of state of the art actuation and sensing, and therefore are able to handle difficult locomotion tasks very ...
We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following problems. Specif ...
Institute of Electrical and Electronics Engineers2016
Soft pneumatic actuators (SPAs) are versatile robotic components enabling diverse and complex soft robot hardware design. However, due to inherent material characteristics exhibited by their primary constitutive material, silicone rubber, they often lack r ...