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2018


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Reducing 3D Vibrations to 1D in Real Time

Park, G., Kuchenbecker, K. J.

Pisa, Italy, June 2018, Hands-on demonstration presented at EuroHaptics (misc)

Abstract
In this demonstration, you will hold two pen-shaped modules: an in-pen and an out-pen. The in-pen is instrumented with a high-bandwidth three-axis accelerometer, and the out-pen contains a one-axis voice coil actuator. Use the in-pen to interact with different surfaces; the measured 3D accelerations are continually converted into 1D vibrations and rendered with the out-pen for you to feel. You can test conversion methods that range from simply selecting a single axis to applying a discrete Fourier transform or principal component analysis for realistic and brisk real-time conversion.

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[BibTex]

2018


[BibTex]


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Designing a Haptic Empathetic Robot Animal for Children with Autism

Burns, R., Kuchenbecker, K. J.

Workshop paper (4 pages) at the RSS Workshop on Robot-Mediated Autism Intervention: Hardware, Software and Curriculum, June 2018 (misc)

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link (url) [BibTex]

link (url) [BibTex]


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Die kybernetische Revolution

Schölkopf, B.

15-Mar-2018, Süddeutsche Zeitung, 2018 (misc)

ei

link (url) [BibTex]

link (url) [BibTex]

2017


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Editorial for the Special Issue on Microdevices and Microsystems for Cell Manipulation

Hu, W., Ohta, A. T.

8, Multidisciplinary Digital Publishing Institute, September 2017 (misc)

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DOI [BibTex]

2017


DOI [BibTex]


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Physically Interactive Exercise Games with a Baxter Robot

Fitter, N. T., Kuchenbecker, K. J.

Hands-on demonstration presented at the 2017 IEEE World Haptics Conference (WHC), June 2017 (misc)

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[BibTex]

[BibTex]


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Proton Pack: Visuo-Haptic Surface Data Recording

Burka, A., Kuchenbecker, K. J.

Hands-on demonstration presented at the 2017 IEEE World Haptics Conference (WHC), June 2017 (misc)

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[BibTex]

[BibTex]


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Teaching a Robot to Collaborate with a Human Via Haptic Teleoperation

Hu, S., Kuchenbecker, K. J.

Work-in-progress paper (2 pages) presented at the 2017 IEEE World Haptics Conference (WHC), June 2017 (misc)

hi

[BibTex]

[BibTex]


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How Should Robots Hug?

Block, Alexis E., Kuchenbecker, Katherine J.

Work-in-progress paper (2 pages) presented at the 2017 IEEE World Haptics Conference (WHC), June 2017 (misc)

hi

[BibTex]

[BibTex]


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An Interactive Augmented-Reality Video Training Platform for the da Vinci Surgical System

Carlson, J., Kuchenbecker, K. J.

Short paper presented at the Workshop on C4 Surgical Robots at the IEEE International Conference on Robotics and Automation (ICRA), May 2017 (misc)

Abstract
Teleoperated surgical robots such as the Intuitive da Vinci Surgical System facilitate minimally invasive surgeries, which decrease risk to patients. However, these systems can be difficult to learn, and existing training curricula on surgical simulators do not offer students the realistic experience of a full operation. This paper presents an augmented-reality video training platform for the da Vinci that will allow trainees to rehearse any surgery recorded by an expert. While the trainee operates a da Vinci in free space, they see their own instruments overlaid on the expert video. Tools are identified in the source videos via color segmentation and kernelized correlation filter tracking, and their depth is calculated from the da Vinci’s stereoscopic video feed. The user tries to follow the expert’s movements, and if any of their tools venture too far away, the system provides instantaneous visual feedback and pauses to allow the user to correct their motion. The trainee can also rewind the expert video by bringing either da Vinci tool very close to the camera. This combined and augmented video provides the user with an immersive and interactive training experience.

hi

[BibTex]

[BibTex]


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Hand-Clapping Games with a Baxter Robot

Fitter, N. T., Kuchenbecker, K. J.

Hands-on demonstration presented at ACM/IEEE International Conference on Human-Robot Interaction (HRI), March 2017 (misc)

Abstract
Robots that work alongside humans might be more effective if they could forge a strong social bond with their human partners. Hand-clapping games and other forms of rhythmic social-physical interaction may foster human-robot teamwork, but the design of such interactions has scarcely been explored. At the HRI 2017 conference, we will showcase several such interactions taken from our recent work with the Rethink Robotics Baxter Research Robot, including tempo-matching, Simon says, and Pat-a-cake-like games. We believe conference attendees will be both entertained and intrigued by this novel demonstration of social-physical HRI.

hi

[BibTex]

[BibTex]


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How Much Haptic Surface Data is Enough?

Burka, A., Kuchenbecker, K. J.

Workshop paper (5 pages) presented at the AAAI Spring Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents, March 2017 (misc)

Abstract
The Proton Pack is a portable visuo-haptic surface interaction recording device that will be used to collect a vast multimodal dataset, intended for robots to use as part of an approach to understanding the world around them. In order to collect a useful dataset, we want to pick a suitable interaction duration for each surface, noting the tradeoff between data collection resources and completeness of data. One interesting approach frames the data collection process as an online learning problem, building an incremental surface model and using that model to decide when there is enough data. Here we examine how to do such online surface modeling and when to stop collecting data, using kinetic friction as a first domain in which to apply online modeling.

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link (url) [BibTex]

link (url) [BibTex]

2016


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Special Issue on Causal Discovery and Inference

Zhang, K., Li, J., Bareinboim, E., Schölkopf, B., Pearl, J.

ACM Transactions on Intelligent Systems and Technology (TIST), 7(2), January 2016, (Guest Editors) (misc)

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[BibTex]

2016


[BibTex]


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Empirical Inference (2010-2015)
Scientific Advisory Board Report, 2016 (misc)

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pdf [BibTex]

pdf [BibTex]


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Unsupervised Domain Adaptation in the Wild : Dealing with Asymmetric Label Set

Mittal, A., Raj, A., Namboodiri, V. P., Tuytelaars, T.

2016 (misc)

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Arxiv [BibTex]

Arxiv [BibTex]


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Perceiving Systems (2011-2015)
Scientific Advisory Board Report, 2016 (misc)

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pdf [BibTex]

pdf [BibTex]


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Method for encapsulating a nanostructure, coated nanostructure and use of a coated nanostructure

Jeong, H., LEE, T., FISCHER, P.

Google Patents, 2016, WO Patent App. PCT/EP2016/056,377 (misc)

Abstract
The present invention relates to a method for encapsulating a nanostructure, the method comprising the steps of: -providing a substrate; -forming a plug composed of plug material at said substrate; -forming a nanostructure (on or) at said plug; -forming a shell composed of at least one shell material on external surfaces of the nanostructure, with the at least one shell material covering said nanostructure and at least some of the plug material,whereby the shell and the plug encapsulate the nanostructure. The invention further relates to a coated nanostructure and to the use of a coated nanostructure.

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link (url) [BibTex]

link (url) [BibTex]


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Extrapolation and learning equations

Martius, G., Lampert, C. H.

2016, arXiv preprint \url{https://arxiv.org/abs/1610.02995} (misc)

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Project Page [BibTex]

Project Page [BibTex]

2014


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Local Gaussian Regression

Meier, F., Hennig, P., Schaal, S.

arXiv preprint, March 2014, clmc (misc)

Abstract
Abstract: Locally weighted regression was created as a nonparametric learning method that is computationally efficient, can learn from very large amounts of data and add data incrementally. An interesting feature of locally weighted regression is that it can work with ...

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Web link (url) [BibTex]

2014


Web link (url) [BibTex]


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Fibrillar structures to reduce viscous drag on aerodynamic and hydrodynamic wall surfaces

Castillo, L., Aksak, B., Sitti, M.

March 2014, US Patent App. 14/774,767 (misc)

pi

[BibTex]

[BibTex]


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The design of microfibers with mushroom-shaped tips for optimal adhesion

Sitti, M., Aksak, B.

February 2014, US Patent App. 14/766,561 (misc)

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[BibTex]

[BibTex]

2013


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Dry adhesives and methods for making dry adhesives

Sitti, M., Kim, S.

sep 2013, US Patent App. 14/016,651 (misc)

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[BibTex]

2013


[BibTex]


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Dry adhesives and methods for making dry adhesives

Sitti, M., Kim, S.

sep 2013, US Patent App. 14/016,683 (misc)

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[BibTex]

[BibTex]


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Dry adhesives and methods for making dry adhesives

Sitti, M., Kim, S.

sep 2013, US Patent 8,524,092 (misc)

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[BibTex]

[BibTex]


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Dry adhesives and methods of making dry adhesives

Sitti, M., Murphy, M., Aksak, B.

March 2013, US Patent App. 13/845,702 (misc)

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[BibTex]

[BibTex]

2012


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Methods, apparatuses, and systems for micromanipulation with adhesive fibrillar structures

Sitti, M., Mengüç, Y.

December 2012, US Patent App. 14/368,079 (misc)

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[BibTex]

2012



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Dry adhesive structures

Sitti, M., Murphy, M., Aksak, B.

December 2012, US Patent App. 13/533,386 (misc)

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[BibTex]

[BibTex]


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Methods of making dry adhesives

Sitti, M., Murphy, M., Aksak, B.

June 2012, US Patent 8,206,631 (misc)

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[BibTex]

[BibTex]


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Dry adhesives and methods for making dry adhesives

Sitti, M., Murphy, M., Aksak, B.

March 2012, US Patent App. 13/429,621 (misc)

pi

[BibTex]

[BibTex]

2010


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\textscLpzRobots: A free and powerful robot simulator

Martius, G., Hesse, F., Güttler, F., Der, R.

\urlhttp://robot.informatik.uni-leipzig.de/software, 2010 (misc)

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[BibTex]

2010


[BibTex]


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Playful Machines: Tutorial

Der, R., Martius, G.

\urlhttp://robot.informatik.uni-leipzig.de/tutorial?lang=en, 2010 (misc)

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[BibTex]

[BibTex]

2007


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Mathematik der Wahrnehmung: Wendepunkte

Wichman, F., Ernst, MO.

Akademische Mitteilungen zw{\"o}lf: F{\"u}nf Sinne, pages: 32-37, 2007 (misc)

ei

[BibTex]

2007


[BibTex]


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Space exploration-towards bio-inspired climbing robots

Menon, C., Murphy, M., Sitti, M., Lan, N.

INTECH Open Access Publisher, 2007 (misc)

pi

[BibTex]

[BibTex]

2005


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Adhesive microstructure and method of forming same

Fearing, R. S., Sitti, M.

March 2005, US Patent 6,872,439 (misc)

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[BibTex]

2005


[BibTex]

2004


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Statistische Lerntheorie und Empirische Inferenz

Schölkopf, B.

Jahrbuch der Max-Planck-Gesellschaft, 2004, pages: 377-382, 2004 (misc)

Abstract
Statistical learning theory studies the process of inferring regularities from empirical data. The fundamental problem is what is called generalization: how it is possible to infer a law which will be valid for an infinite number of future observations, given only a finite amount of data? This problem hinges upon fundamental issues of statistics and science in general, such as the problems of complexity of explanations, a priori knowledge, and representation of data.

ei

PDF Web [BibTex]

2004


PDF Web [BibTex]