161 citations · 281 across the 16 of their papers we have counts for
16 papers · 1 filter
Visual Servoing Based on 3D Features: Design and Implementation for Robotic Insertion Tasks
Antonio Rosales, Tapio Heikkilä, Markku Suomalainen
This paper proposes a feature-based Visual Servoing (VS) method for insertion task skills. A camera mounted on the robot's end-effector provides the pose relative to a cylinder (ho…
Leaning-Based Control of an Immersive-Telepresence Robot
Joona Halkola, Markku Suomalainen, Basak Sakcak +5
In this paper, we present an implementation of a leaning-based control of a differential drive telepresence robot and a user study in simulation, with the goal of bringing the same…
HI-DWA: Human-Influenced Dynamic Window Approach for Shared Control of a Telepresence Robot
Juho Kalliokoski, Basak Sakcak, Markku Suomalainen +4
This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user,…
Unwinding Rotations Improves User Comfort with Immersive Telepresence Robots
Markku Suomalainen, Basak Sakcak, Adhi Widagdo +5
We propose unwinding the rotations experienced by the user of an immersive telepresence robot to improve comfort and reduce VR sickness of the user. By immersive telepresence we re…
A Survey of Robot Manipulation in Contact
Markku Suomalainen, Yiannis Karayiannidis, Ville Kyrki
In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly…
Analysis of User Preferences for Robot Motions in Immersive Telepresence
Katherine J. Mimnaugh, Markku Suomalainen, Israel Becerra +3
This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the…
Defining Preferred and Natural Robot Motions in Immersive Telepresence from a First-Person Perspective
Katherine J. Mimnaugh, Markku Suomalainen, Israel Becerra +3
This paper presents some early work and future plans regarding how the autonomous motions of a telepresence robot affect a person embodied in the robot through a head-mounted displ…
Compliant Manipulation of Free-Floating Objects
Shikha Sharma, Markku Suomalainen, Ville Kyrki
Compliant motions allow alignment of workpieces using naturally occurring interaction forces. However, free-floating objects do not have a fixed base to absorb the reaction forces…
Human Perception-Optimized Planning for Comfortable VR-Based Telepresence
Israel Becerra, Markku Suomalainen, Eliezer Lozano +3
This paper introduces an emerging motion planning problem by considering a human that is immersed into the viewing perspective of a remote robot. The challenge is to make the exper…
Virtual Reality for Robots
Markku Suomalainen, Alexandra Q. Nilles, Steven M. LaValle
This paper applies the principles of Virtual Reality (VR) to robots, rather than living organisms. A simulator, of either physical states or information states, renders outputs to…
Improving dual-arm assembly by master-slave compliance
Markku Suomalainen, Sylvain Calinon, Emmanuel Pignat +1
In this paper we show how different choices regarding compliance affect a dual-arm assembly task. In addition, we present how the compliance parameters can be learned from a human…
Segmenting and Sequencing of Compliant Motions
Tesfamichael Marikos Hagos, Markku Suomalainen, Ville Kyrki
This paper proposes an approach for segmenting a task consisting of compliant motions into phases, learning a primitive for each segmented phase of the task, and reproducing the ta…
Learning from Demonstration for Hydraulic Manipulators
Markku Suomalainen, Janne Koivumäki, Santeri Lampinen +2
This paper presents, for the first time, a method for learning in-contact tasks from a teleoperated demonstration with a hydraulic manipulator. Due to the use of extremely powerful…
Imitating Human Search Strategies for Assembly
Dennis Ehlers, Markku Suomalainen, Jens Lundell +1
We present a Learning from Demonstration method for teaching robots to perform search strategies imitated from humans in scenarios where alignment tasks fail due to position uncert…
Imitation learning-based framework for learning 6-D linear compliant motions
Markku Suomalainen, Fares J. Abu-Dakka, Ville Kyrki
We present a novel method for learning from demonstration 6-D tasks that can be modeled as a sequence of linear motions and compliances. The focus of this paper is the learning of…
A geometric approach for learning compliant motions from demonstration
Markku Suomalainen, Ville Kyrki
This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when con…