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Ongoing Theses

  • Robotics Related

Robotics Related

Vision-Based Teleoperation of the Compliant RBO Hand 3 [1]

Humans are experts in operating anthropomorphic hands based on their intuition. However, transfer of intuitive manipulation strategies requires tools that can capture relevant aspects that govern human behaviors. More specifically, we want to transfer robust human in-hand manipulation strategies to the anthropomorphic RBO Hand 3. At the moment, this hand’s actuators are operated using a mixing board: a tedious and unintuitive process. In this work, we design a general vision-based teleoperation system that lets users operate the robot hand by mirroring intuitively produced movements from their own hand. more to: Vision-Based Teleoperation of the Compliant RBO Hand 3 [2]

Compensating the Pneumatic Actuation Noise by Using Strain and Acoustic Signals [3]

To estimate the robot state and environment, we can use different sensors. For example, we can measure the sound inside of soft pneumatic actuators and use small changes in the sound signal to sense a wide range of actuator properties (Active Acoustic Sensor). Alternatively, strain sensors attached to the robot finger measure the deformation of the soft hull (Strain Sensor). While each sensor has shown promising results in different tasks, some disturbances lead to data corruption or loss. To achieve a robust sensor prediction, we combine multiple sensors. Additionally, this fusion might also give us more information about the pneumatic actuator state and environmental interaction and may thereby lead to a more precise contact location detection. more to: Compensating the Pneumatic Actuation Noise by Using Strain and Acoustic Signals [4]

Studying Abductive Reasoning by Playing Mastermind [5]

Mastermind is a simple, but very clever code-breaking board game from the 70s. It is a perfect example of abductive reasoning, also called inference to the best explanation. Abduction is a method of (scientific) reasoning in which one chooses the hypothesis that best explains the available evidence. Abduction is the third type of logic inference, in addition to deductive and inductive reasoning. For example, medical doctors perform abduction when diagnosing a disease (hypothesis) given the observable symptoms (evidence). Abductive reasoning can produce false hypotheses, for example, because there might be several diseases producing similar symptoms. Doctors then go through progressively complex tests, successively decreasing the set of possible diseases matching the evidence – in principle very similar to playing Mastermind. more to: Studying Abductive Reasoning by Playing Mastermind [6]

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