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  • Journal article
    Cursi F, Bai W, Yeatman EM, Kormushev Pet al., 2022,

    GlobDesOpt: A Global Optimization Framework for Optimal Robot Manipulator Design

    , IEEE Access, ISSN: 2169-3536
  • Journal article
    Wang K, Fei H, Kormushev P, 2022,

    Fast Online Optimization for Terrain-Blind Bipedal Robot Walking with a Decoupled Actuated SLIP Model

    , Frontiers in Robotics and AI, ISSN: 2296-9144
  • Journal article
    AlAttar A, Chappell D, Kormushev P, 2022,

    Kinematic-Model-Free Predictive Control for Robotic Manipulator Target Reaching with Obstacle Avoidance

    , Frontiers in Robotics and AI, ISSN: 2296-9144
  • Conference paper
    Cursi F, Chappell D, Kormushev P, 2021,

    Augmenting Loss Functions of Feedforward Neural Networks with Differential Relationships for Robot Kinematic Modelling

    , Ljubljana, Slovenia
  • Conference paper
    La Barbera V, Pardo F, Tassa Y, Daley M, Richards C, Kormushev P, Hutchinson Jet al., 2021,

    OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion

  • Conference paper
    Cursi F, Bai W, Kormushev P, 2021,

    Kalibrot: a simple-to-use Matlab package for robot kinematic calibration

    , Prague, Czech Republic, International Conference on Intelligent Robots and Systems (IROS) 2021

    Robot modelling is an essential part to properlyunderstand how a robotic system moves and how to controlit. The kinematic model of a robot is usually obtained byusing Denavit-Hartenberg convention, which relies on a set ofparameters to describe the end-effector pose in a Cartesianspace. These parameters are assigned based on geometricalconsiderations of the robotic structure, however, the assignedvalues may be inaccurate. The purpose of robot kinematiccalibration is therefore to find optimal parameters whichimprove the accuracy of the robot model. In this work wepresent Kalibrot, an open source Matlab package for robotkinematic calibration. Kalibrot has been designed to simplifyrobot calibration and easily assess the calibration results. Besidecomputing the optimal parameters, Kalibrot provides a visualization layer showing the values of the calibrated parameters,what parameters can be identified, and the calibrated roboticstructure. The capabilities of the package are here shownthrough simulated and real world experiments.

  • Conference paper
    Cursi F, Kormushev P, 2021,

    Pre-operative offline optimization of insertion point location for safe and accurate surgical task execution

    , Prague, Czech Republic, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

    In robotically assisted surgical procedures thesurgical tool is usually inserted in the patient’s body througha small incision, which acts as a constraint for the motionof the robot, known as remote center of Motion (RCM). Thelocation of the insertion point on the patient’s body has hugeeffects on the performances of the surgical robot. In this workwe present an offline pre-operative framework to identify theoptimal insertion point location in order to guarantee accurateand safe surgical task execution. The approach is validatedusing a serial-link manipulator in conjunction with a surgicalrobotic tool to perform a tumor resection task, while avoidingnearby organs. Results show that the framework is capable ofidentifying the best insertion point ensuring high dexterity, hightracking accuracy, and safety in avoiding nearby organs.

  • Conference paper
    Wang K, Saputra RP, Foster JP, Kormushev Pet al., 2021,

    Improved energy efficiency via parallel elastic elements for the straight-legged vertically-compliant robot SLIDER

    , Japan, 24th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

    Most state-of-the-art bipedal robots are designed to be anthropomorphic, and therefore possess articulated legs with knees. Whilstthis facilitates smoother, human-like locomotion, there are implementation issues that make walking with straight legs difficult. Many robotshave to move with a constant bend in the legs to avoid a singularityoccurring at the knee joints. The actuators must constantly work tomaintain this stance, which can result in the negation of energy-savingtechniques employed. Furthermore, vertical compliance disappears whenthe leg is straight and the robot undergoes high-energy loss events such asimpacts from running and jumping, as the impact force travels throughthe fully extended joints to the hips. In this paper, we attempt to improve energy efficiency in a simple yet effective way: attaching bungeecords as elastic elements in parallel to the legs of a novel, knee-less bipedrobot SLIDER, and show that the robot’s prismatic hip joints preservevertical compliance despite the legs being constantly straight. Due tothe nonlinear dynamics of the bungee cords and various sources of friction, Bayesian Optimization is utilized to find the optimals configurationof bungee cords that achieves the largest reduction in energy consumption. The optimal solution found saves 15% of the energy consumptioncompared to the robot configuration without parallel elastic elements.Additional Video:−Dz8A

  • Conference paper
    Rakicevic N, Cully A, Kormushev P, 2021,

    Policy manifold search: exploring the manifold hypothesis for diversity-based neuroevolution

    , Proceedings of the 2021 Genetic and Evolutionary Computation Conference

    Neuroevolution is an alternative to gradient-based optimisation that has thepotential to avoid local minima and allows parallelisation. The main limitingfactor is that usually it does not scale well with parameter spacedimensionality. Inspired by recent work examining neural network intrinsicdimension and loss landscapes, we hypothesise that there exists alow-dimensional manifold, embedded in the policy network parameter space,around which a high-density of diverse and useful policies are located. Thispaper proposes a novel method for diversity-based policy search viaNeuroevolution, that leverages learned representations of the policy networkparameters, by performing policy search in this learned representation space.Our method relies on the Quality-Diversity (QD) framework which provides aprincipled approach to policy search, and maintains a collection of diversepolicies, used as a dataset for learning policy representations. Further, weuse the Jacobian of the inverse-mapping function to guide the search in therepresentation space. This ensures that the generated samples remain in thehigh-density regions, after mapping back to the original space. Finally, weevaluate our contributions on four continuous-control tasks in simulatedenvironments, and compare to diversity-based baselines.

  • Journal article
    Saputra RP, Rakicevic N, Kuder I, Bilsdorfer J, Gough A, Dakin A, Cocker ED, Rock S, Harpin R, Kormushev Pet al., 2021,

    ResQbot 2.0: an improved design of a mobile rescue robot with an inflatable neck securing device for safe casualty extraction

    , Applied Sciences, Vol: 11, Pages: 1-18, ISSN: 2076-3417

    Despite the fact that a large number of research studies have been conducted in the field of searchand rescue robotics, significantly little attention has been given to the development of rescue robotscapable of performing physical rescue interventions, including loading and transporting victims toa safe zone—i.e. casualty extraction tasks. The aim of this study is to develop a mobile rescue robotthat could assist first responders when saving casualties from a danger area by performing a casualty extraction procedure, whilst ensuring that no additional injury is caused by the operation andno additional lives are put at risk. In this paper, we present a novel design of ResQbot 2.0—a mobilerescue robot designed for performing the casualty extraction task. This robot is a stretcher-type casualty extraction robot, which is a significantly improved version of the initial proof-of-concept prototype, ResQbot (retrospectively referred to as ResQbot 1.0), that has been developed in our previous work. The proposed designs and development of the mechanical system of ResQbot 2.0, as wellas the method for safely loading a full body casualty onto the robot’s ‘stretcher bed’, are describedin detail based on the conducted literature review, evaluation of our previous work and feedbackprovided by medical professionals. To verify the proposed design and the casualty extraction procedure, we perform simulation experiments in Gazebo physics engine simulator. The simulationresults demonstrate the capability of ResQbot 2.0 to successfully carry out safe casualty extractions

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