Prediction of Wireless Communication Performance

[ICRA21-1] | [RAS21] | [ACC21] | [WUWNET19]

The intent of this project is to develop methodologies for the prediction of underwater acoustic (UWA) communication performance. The measurements are modeled by a non-stationary Gaussian random field with a deterministic mean structure and a stochastic random component. We formulate basis functions inpired by accoustic propagation models to identify a spatial trend. An iterative technique, that exploits restricted maximum likelihood and statistical model selection methods, is used to construct the covariance matrix. Prediction of UWA communication performance is performed with universal kriging (non-zero mean Gaussian Process).

Keywords: Spatial Prediction, Marine Robotics, Autonomous Underwater Vehicles, Communication Performance.

Online Kinodynamic Motion Planning

[ACC20] | [TNNLS19] | [ACC19]

The aim of this project is to provide online and safe kinodynamic motion planning algorithms with completely unknown/uncertain dynamics, based on continuous-time Q-learning. We utilize integral reinforcement learning to develop tuning laws for the online approximation of the optimal cost and the optimal policy in continuous-time. We modify motion planning techniques to perform efficient online local re-planning by employing topological connectedness tools.

Keywords: Motion Planning, Reinforcement Learning, Optimal Control, Game Theory.

Anthropomorphic Robot Hands

[ICRA21-2] | [HUMANOIDS19] | [FRONTIERS19] | [ICORR19] | [THESIS18]

This research project contributes to the development of a new class of anthropomorphic, adaptive robot hands. The robot hands can operate in unstructured environments and can achieve various grasping and in-hand manipulation actions, with only 4 actuators in a synergistic fashion. The design is optimized according to the human hand characteristics that are based on anthropometric studies and medical tests. The fabrication procedure consists of 3D printing and deposition manufacturing techniques.

Keywords: Adaptive Robot Hands, Compliant Mechanisms, Dexterous Manipulation.

Prosthetic Hands

[IROS15] | [THESIS16]

This research project focuses on the design and development of anthropomorphic, underactuated, personalized robot hands of low cost and weight. Elastic joints were selected to introduce passive compliance in the hand's structure, to simplify the control problem, and to enhance the grasping capabilities. We use a single actuator with a novel selectively lockable differential mechanism to facilitate the execution of different grasping postures and gestures. The design is parametric and the fabrication consists of laser cutting and 3D printing.

Keywords: Prosthesis design, Differential Mechanisms, Robust Grasping.