Expanding robot autonomy can deliver functional flexibility and enable fast deployment of
robots in challenging and unstructured environments. In this direction, significant advances …

Nowadays, robots are expected to enter in various application scenarios and interact with
unknown and dynamically changing environments. This highlights the need for creating …

Complex interactions with unstructured environments require the application of appropriate
restoring forces in response to the imposed displacements. Impedance control techniques …

Interactive robots offer improved performance in tasks with environmental uncertainty, but
accommodating environment input weakens predictions of contact force or position …

To survive in the real world, a robot must be able to intelligently react to unpredicted and
possibly simultaneous changes to its self (such as its sensors, actions, and goals) and …

The sense of touch permits humans to directly touch, feel and perceive the state of their
surrounding environment. For an exploration task, humans normally reduce uncertainty by …

First of all, I want to express my gratitude to Prof. Darius Burschka who closely supervised
this thesis from the very beginning. He was a very committed supervisor, always having an …

We address the challenge of how a robot can adapt its actions to successfully manipulate
objects it has not previously encountered. We introduce Real-time Multisensory Affordance …

This letter presents a compliant exploration framework based on a collaborative robot
Franka Panda that builds a 3D plant stem model. The model is built for agricultural plant …

Compliant interaction between robots and the environment is crucial for completing contact-
rich tasks. However, obtaining and implementing optimal interaction behavior in complex …