Add to Chrome
Add to Firefox
Add to EdgeAlin Albu-Schaeffer
Care3D: An Active 3D Object Detection Dataset of Real Robotic-Care Environments
Oct 09, 2023
As labor shortage increases in the health sector, the demand for assistive robotics grows. However, the needed test data to develop those robots is scarce, especially for the application of active 3D object detection, where no real data exists at all. This short paper counters this by introducing such an annotated dataset of real environments. The captured environments represent areas which are already in use in the field of robotic health care research. We further provide ground truth data within one room, for assessing SLAM algorithms running directly on a health care robot.
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems
Mar 03, 2023
This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigenmanifold theory, which defines the sets of line-shaped oscillations of a robot as an invariant two-dimensional submanifold of its state space. By defining the control problem as a nonlinear program (NLP), the controller is able to deal with constraints in the state and control variables and be energy-efficient not only in its final trajectory but also during the convergence phase. An initial implementation of this approach is proposed, analyzed, and tested in simulation.
Model-free Friction Observers for Flexible Joint Robots with Torque Measurements
Jul 01, 2019
This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By doing so, asymptotic stability and passivity of the controller are maintained. Another advantage of the proposed observer is that it provides a clear understanding for the stiction compensation which is hard to be captured in model-free approaches. This allows to design observers that do not overcompensate for the stiction. The proposed scheme is validated through simulations and experiments.
A dataset of continuous affect annotations and physiological signals for emotion analysis
Dec 06, 2018
From a computational viewpoint, emotions continue to be intriguingly hard to understand. In research, direct, real-time inspection in realistic settings is not possible. Discrete, indirect, post-hoc recordings are therefore the norm. As a result, proper emotion assessment remains a problematic issue. The Continuously Annotated Signals of Emotion (CASE) dataset provides a solution as it focusses on real-time continuous annotation of emotions, as experienced by the participants, while watching various videos. For this purpose, a novel, intuitive joystick-based annotation interface was developed, that allowed for simultaneous reporting of valence and arousal, that are instead often annotated independently. In parallel, eight high quality, synchronized physiological recordings (1000 Hz, 16-bit ADC) were made of ECG, BVP, EMG (3x), GSR (or EDA), respiration and skin temperature. The dataset consists of the physiological and annotation data from 30 participants, 15 male and 15 female, who watched several validated video-stimuli. The validity of the emotion induction, as exemplified by the annotation and physiological data, is also presented.