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[[Category:IMS-robotics]]
==  Goal and motivation for robotics at IMS Lab ==
==  Goal and motivation for robotics at IMS Lab ==
Robots are developed for the improvement of quality of our lives. Human-Robot Collaboration encompasses developing usable robots that make our everyday lives easier. Collaborative robots share their autonomy with human partners, thus improving the efficiency and quality of work in areas such as flexible manufacturing, logistics, domestic assistance, healthcare, and teleoperation in hazardous environments. We have extensive experience in research and technology of every aspect of robotics: designing electronics, mechanical engineering, software development, system integration, device building, education and training.
[[Image:Ims-robotics logo on white.png|thumb|300px]]
Robots are developed for improving the quality of our lives. Human-Robot Collaboration encompasses developing usable robots that make our everyday lives easier. Collaborative robots share their autonomy with human partners, thus improving the efficiency and quality of work in areas such as flexible manufacturing, logistics, domestic assistance, healthcare, and teleoperation in hazardous environments. We have extensive experience in research and technology of every aspect of robotics: designing electronics, mechanical engineering, software development, system integration, device building, education, and training.


== Highlights ==
== Highlights ==
* TeMoto, a highly intuitive telerobotics platform,
* [https://github.com/temoto-framework/temoto TeMoto], framework for dependable robotics,
* omnidirectional robotont platform for education and research in ROS,
* omnidirectional [http://robotont.ut.ee robotont] platform for education and research in ROS,
* Fits.me shape-changing mannequin,
* Fits.me shape-changing mannequin,
* Self-deployable Habitat for Extreme Environments ([http://www.shee.eu SHEE]),
* Self-deployable Habitat for Extreme Environments ([http://www.shee.eu SHEE]),
* Massive open online course (MOOC) about robotics in Estonia (https://sisu.ut.ee/robot).
* Massive open online course (MOOC) about robotics in Estonia (https://sisu.ut.ee/robot).
[[#Portfolio|Jump to portfolio]]


== Capabilities ==
== Capabilities ==
=== Tools we use ===
* ROS
* LabVIEW,
* C++
=== Equipment ===
=== Equipment ===
Our inventory includes but is not limited to:
Our inventory includes but is not limited to:
* KUKA youBot
<gallery mode="packed">
* Universal Robot UR5
File:Youbot.png|120px|thumb|KUKA youBot
* [[Franka Emika Panda]]
File:Ur5_left.png|120px|thumb|Universal Robot UR5
* [[SoftBank Pepper]]
File:Franka_Emika_Panda.jpg|120px|thumb|Franka Emika Panda
* Kinova 3-finger gripper
File:Clearpath_Jackal.jpg|120px|thumb|Clearpath Jackal
* robotont
File:Kinova_KG-3_Gripper.jpg|120px|thumb|Kinova 3-finger gripper
File:Xarm7.jpg|120px|thumb|UFACTORY xArm7
File:Robotont_banner.png|120px|thumb|robotont
File:Turtlebot3-waffle-pi.jpg|thumb|TurtleBot3
File:Parrot-bebop-2.jpg|thumb|Parrot Bebop 2
</gallery>
 
* PAL Robotics TIAGo
* MiR100
* Robotiq 2F
* ClearBot
* OSVR
* OSVR
* Oculus Rift
* Oculus Rift
* Intel RealSense, Kinect, Leap Motion Controller
* Intel RealSense, Kinect, Leap Motion Controller, Ouster OS-1


=== Skills ===
=== Skills ===
* ROS (Robot Operating System)
* Full robotics system development
* Hardware integration
* Hardware integration
* Software engineering
* Process automation
* Motion planning and control theory
* System identification
* Data fusion
* Electronics design
* Electronics design
* Full system development
* Simulations and digital twins
* Algorithm development
* Scientific publication
* ROS and engineering trainings
* ROS and engineering trainings


== Primary contact ==
== Primary contact ==
[[File:Karl.jpg|100px|link=User:Karl|Karl Kruusamäe]] [[File:Alvo Facebook.JPG|100px|link=User:Alvo|Alvo Aabloo]]
 
[[User:Karl|Karl Kruusamäe]], associate professor of robotics engineering, [https://orcid.org/0000-0002-1720-1509 ORCID]
{{Team|
[[User:Alvo|Alvo Aabloo]], professor, head of the IMS lab
{{TeamMember|Karl|Karl Kruusamäe|associate professor of robotics engineering}}
[[User_pages|Full list of lab members here]]
{{TeamMember|Aks1812|Arun Kumar Singh|associate professor of collaborative robotics}}
{{TeamMember|Alvo|Alvo Aabloo|professor, head of the IMS lab}}
}}


== Student projects ==
== Student projects ==
We always welcome new motivated students who are interested in robotics to join our lab. A list of potential [[student projects in robotics]] can be found [[student projects in robotics|here]].
We always welcome new motivated students who are interested in robotics to join our team. We offer student projects on the following general topics:
* intuitive teleoperation interfaces,
* collaborative robotics for flexible manufacturing,
* autonomous ground vehicles,
* autonomous drones
* robotics education.
A list of potential student projects in '''[[student projects in robotics|robotics]]''' or '''[[Soft_robotics_student_projects|soft robotics]]'''.


== Porfolio ==
== Portfolio ==
===Selected projects===
===Selected projects===
<TO DO>
* [https://github.com/temoto-framework/temoto TeMoto] - framework for building dependable robotic applications for facilitating human-robot collaboration and autonomy (in collaboration with the [http://robotics.me.utexas.edu/ Nuclear and Applied Robotics Group at UT-Austin]).
* [https://www.yanu.ai/ Yanu] - fully autonomous robot empowered bartending unit
* [http://robotont.ut.ee robotont] - open source omnidirectional mobile robot platform
* [http://www.shee.eu SHEE] - '''S'''elf-deployable '''H'''abitat for '''E'''xtreme '''E'''nvironments, aka "the Mars house"


=== Selected Publications ===
=== Selected publications ===
* Robert Valner, Karl Kruusamäe, Mitch Pryor (2018) {{doi-inline|10.3390/robotics7010009|TeMoto: Intuitive Multi-Range Telerobotic System with Natural Gestural and Verbal Instruction Interface}}, ''Robotics'' '''7'''(1), 9.
* Robert Valner, Houman Masnavi, Igor Rybalskii, Rauno Põlluäär, Erik Kõiv, Alvo Aabloo, Karl Kruusamäe, Arun Kumar Singh (2022) {{doi-inline|10.3389/frobt.2022.922835|Scalable and heterogenous mobile robot fleet-based task automation in crowded hospital environments—a field test}}, ''Frontiers in Robotics and AI'' '''9''', 922835.
* Masnavi, H., Shrestha, J., Mishra, M., Sujit, P.B., Kruusamäe, K., Singh, A.K. (2022) {{doi-inline|10.1109/LRA.2022.3190087|Visibility-Aware Navigation With Batch Projection Augmented Cross-Entropy Method Over a Learned Occlusion Cost}}, ''IEEE Robotics and Automation Letters'' '''7'''(4),  9366 - 9373.
* Robert Valner, Veiko Vunder, Alvo Aabloo, Mitch Pryor, Karl Kruusamäe (2022) {{doi-inline|10.1109/access.2022.3173647|TeMoto: A Software Framework for Adaptive and Dependable Robotic Autonomy With Dynamic Resource Management}}, ''IEEE Access'' '''10''', 51889 - 51907.
* Robert Valner, Jason Mario Dydynski, Sookyung Cho, Karl Kruusamäe (2021) {{doi-inline|10.1177/0018720820902293|Communication of Hazards in Mixed-Reality Telerobotic Systems: The Usage of Naturalistic Avoidance Cues in Driving Tasks}}, ''Human Factors: The Journal of the Human Factors and Ergonomics Society'' '''63'''(4), 619-634.
* Veiko Vunder, Robert Valner, Conor McMahon, Karl Kruusamäe, Mitch Pryor (2018) {{doi-inline|10.1109/HSI.2018.8431062|Improved Situational Awareness in ROS using Panospheric Vision and Virtual Reality}}, ''2018 11th International Conference on Human System Interaction (HSI)'', 471 - 477.
* Veiko Vunder, Robert Valner, Conor McMahon, Karl Kruusamäe, Mitch Pryor (2018) {{doi-inline|10.1109/HSI.2018.8431062|Improved Situational Awareness in ROS using Panospheric Vision and Virtual Reality}}, ''2018 11th International Conference on Human System Interaction (HSI)'', 471 - 477.
* Andrew Sharp, Karl Kruusamäe, Ben Ebersole, Mitch Pryor (2017) {{doi-inline|10.1109/ARSO.2017.8025195|Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces}}, ''2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)''.
* Karl Kruusamäe, Mitch Pryor (2016) {{doi-inline|10.1109/HSI.2016.7529630|High-precision telerobot with human-centered variable perspective and scalable gestural interface}}, ''2016 9th International Conference on Human System Interactions (HSI)'', 190-196.
* Karl Kruusamäe, Mitch Pryor (2016) {{doi-inline|10.1109/HSI.2016.7529630|High-precision telerobot with human-centered variable perspective and scalable gestural interface}}, ''2016 9th International Conference on Human System Interactions (HSI)'', 190-196.
[[Our_publications|Full list of publications]]
[[Our_publications|Full list of publications]]


=== Outreach ===
=== Outreach ===
* Massive open online course (MOOC) about robotics in Estonia (https://sisu.ut.ee/robot).
* Massive open online course (MOOC) about ROS (Robot Operating System) robotics in Estonian (https://sisu.ut.ee/rosak).
* School Robotics
* Massive open online course (MOOC) about robotics in Estonian (https://sisu.ut.ee/robot).
* Professional [https://sisu.ut.ee/ros ROS trainings] in Estonia
* [http://www.robootika.ee/ School Robotics]
 
[[Category:IMS-robotics]]

Revision as of 10:27, 29 December 2022

Goal and motivation for robotics at IMS Lab

Ims-robotics logo on white.png

Robots are developed for improving the quality of our lives. Human-Robot Collaboration encompasses developing usable robots that make our everyday lives easier. Collaborative robots share their autonomy with human partners, thus improving the efficiency and quality of work in areas such as flexible manufacturing, logistics, domestic assistance, healthcare, and teleoperation in hazardous environments. We have extensive experience in research and technology of every aspect of robotics: designing electronics, mechanical engineering, software development, system integration, device building, education, and training.

Highlights

  • TeMoto, framework for dependable robotics,
  • omnidirectional robotont platform for education and research in ROS,
  • Fits.me shape-changing mannequin,
  • Self-deployable Habitat for Extreme Environments (SHEE),
  • Massive open online course (MOOC) about robotics in Estonia (https://sisu.ut.ee/robot).

Jump to portfolio

Capabilities

Equipment

Our inventory includes but is not limited to:

  • KUKA youBot

  • Universal Robot UR5

  • Franka Emika Panda

  • Clearpath Jackal

  • Kinova 3-finger gripper

  • UFACTORY xArm7

  • robotont

  • TurtleBot3

  • Parrot Bebop 2

  • PAL Robotics TIAGo
  • MiR100
  • Robotiq 2F
  • ClearBot
  • OSVR
  • Oculus Rift
  • Intel RealSense, Kinect, Leap Motion Controller, Ouster OS-1

Skills

  • ROS (Robot Operating System)
  • Full robotics system development
  • Hardware integration
  • Process automation
  • Motion planning and control theory
  • System identification
  • Data fusion
  • Electronics design
  • Simulations and digital twins
  • Algorithm development
  • Scientific publication
  • ROS and engineering trainings

Primary contact

Karl Kruusamäeassociate professor of robotics engineering
Arun Kumar Singhassociate professor of collaborative robotics
Alvo Aablooprofessor, head of the IMS lab

Student projects

We always welcome new motivated students who are interested in robotics to join our team. We offer student projects on the following general topics:

  • intuitive teleoperation interfaces,
  • collaborative robotics for flexible manufacturing,
  • autonomous ground vehicles,
  • autonomous drones
  • robotics education.

A list of potential student projects in robotics or soft robotics.

Portfolio

Selected projects

  • TeMoto - framework for building dependable robotic applications for facilitating human-robot collaboration and autonomy (in collaboration with the Nuclear and Applied Robotics Group at UT-Austin).
  • Yanu - fully autonomous robot empowered bartending unit
  • robotont - open source omnidirectional mobile robot platform
  • SHEE - Self-deployable Habitat for Extreme Environments, aka "the Mars house"

Selected publications

Full list of publications

Outreach

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