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2013


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Governance of Humanoid Robot Using Master Exoskeleton

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the IEEE International Symposium on Robotics (ISR), Seoul, South Korea, October 2013 (inproceedings)

Abstract
Dexto:Eka: is an adult-size humanoid robot being developed with the aim of achieving tele-presence. The paper sheds light on the control of this robot using a Master Exoskeleton which comprises of an Exo-Frame, a Control Column and a Graphical User Interface. It further illuminates the processes and algorithms that have been utilized to make an efficient system that would effectively emulate a tele-operator.

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DOI [BibTex]

2013


DOI [BibTex]


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Design and development part 2 of Dexto:Eka: - The humanoid robot

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, August 2013 (inproceedings)

Abstract
Through this paper, we elucidate the second phase of the design and development of the tele-operated humanoid robot Dexto:Eka:. Phase one comprised of the development of a 6 DoF left anthropomorphic arm and left exo-frame. Here, we illustrate the development of the right arm, right exo-frame, torso, backbone, human machine interface and omni-directional locomotion system. Dexto:Eka: will be able to communicate with a remote user through Wi-Fi. An exo-frame capacitates it to emulate human arms and its locomotion is controlled by joystick. A Graphical User Interface monitors and helps in controlling the system.

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DOI [BibTex]

DOI [BibTex]


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The Randomized Dependence Coefficient

Lopez-Paz, D., Hennig, P., Schölkopf, B.

In Advances in Neural Information Processing Systems 26, pages: 1-9, (Editors: C.J.C. Burges, L. Bottou, M. Welling, Z. Ghahramani, and K.Q. Weinberger), 27th Annual Conference on Neural Information Processing Systems (NIPS), 2013 (inproceedings)

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PDF [BibTex]

PDF [BibTex]


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Fast Probabilistic Optimization from Noisy Gradients

Hennig, P.

In Proceedings of The 30th International Conference on Machine Learning, JMLR W&CP 28(1), pages: 62–70, (Editors: S Dasgupta and D McAllester), ICML, 2013 (inproceedings)

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PDF [BibTex]

PDF [BibTex]


Nonparametric dynamics estimation for time periodic systems
Nonparametric dynamics estimation for time periodic systems

Klenske, E., Zeilinger, M., Schölkopf, B., Hennig, P.

In Proceedings of the 51st Annual Allerton Conference on Communication, Control, and Computing, pages: 486-493 , 2013 (inproceedings)

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PDF DOI [BibTex]

PDF DOI [BibTex]


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Analytical probabilistic proton dose calculation and range uncertainties

Bangert, M., Hennig, P., Oelfke, U.

In 17th International Conference on the Use of Computers in Radiation Therapy, pages: 6-11, (Editors: A. Haworth and T. Kron), ICCR, 2013 (inproceedings)

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[BibTex]

[BibTex]