User:Karl
From Intelligent Materials and Systems Lab
Publications
Journal Articles
- Mõtshärg, E., Vunder, V., Raudmäe, R., Muro, M., Drikkit, I., Tšigrinski, L., Köidam, R., Aabloo, A., Kruusamäe, K. (2024) Robotont 3–an accessible 3D-printable ROS-supported open-source mobile robot for education and research, Frontiers in Robotics and AI. http://doi.org/10.3389/frobt.2024.1406645
- Krumins, D., Schumann, S., Vunder, V., Polluaar, R., Laht, K., Raudmae, R., Aabloo, A., Kruusamae, K. (2024) Open Remote Web Lab for Learning Robotics and ROS with Physical and Simulated Robots in an Authentic Developer Environment, IEEE Transactions on Learning Technologies. http://doi.org/10.1109/TLT.2024.3381858
- Wanna, S., Parra, F., Valner, R., Kruusamäe, K., Pryor, M. (2024) Unlocking underrepresented use-cases for large language model-driven human-robot task planning, Advanced Robotics. http://doi.org/10.1080/01691864.2024.2366974
- Farnaz Baksh, Matevž Zorec, Karl Kruusamäe (2024) Open-Source Robotic Study Companion with Multimodal Human–Robot Interaction to Improve the Learning Experience of University Students, Applied Sciences. https://doi.org/10.3390/app14135644
- Raudmäe, R., Schumann, S., Vunder, V., Oidekivi, M., Nigol, M.K., Valner, R., Masnavi, H., Singh, A.K., Aabloo, A., Kruusamäe, K. (2023) ROBOTONT – Open-source and ROS-supported omnidirectional mobile robot for education and research, HardwareX. http://doi.org/10.1016/j.ohx.2023.e00436
- Masnavi, H., Shrestha, J., Kruusamae, K., Singh, A.K. (2023) VACNA: Visibility-Aware Cooperative Navigation With Application in Inventory Management, IEEE Robotics and Automation Letters. http://doi.org/10.1109/LRA.2023.3312969
- Valner, R., Wanna, S., Kruusamäe, K., Pryor, M. (2022) Unified Meaning Representation Format (UMRF)-A Task Description and Execution Formalism for HRI, ACM Transactions on Human-Robot Interaction. http://doi.org/10.1145/3522580
- Masnavi, H., Shrestha, J., Mishra, M., Sujit, P.B., Kruusamae, K., Singh, A.K. (2022) Visibility-Aware Navigation With Batch Projection Augmented Cross-Entropy Method Over a Learned Occlusion Cost, IEEE Robotics and Automation Letters. http://doi.org/10.1109/LRA.2022.3190087
- Valner, R., Vunder, V., Aabloo, A., Pryor, M., Kruusamae, K. (2022) TeMoto: A Software Framework for Adaptive and Dependable Robotic Autonomy With Dynamic Resource Management, IEEE Access. http://doi.org/10.1109/ACCESS.2022.3173647
- Masnavi, H., Adajania, V.K., Kruusamae, K., Singh, A.K. (2022) Real-Time Multi-Convex Model Predictive Control for Occlusion-Free Target Tracking with Quadrotors, IEEE Access. http://doi.org/10.1109/ACCESS.2022.3157977
- Robert Valner, Houman Masnavi, Igor Rybalskii, Rauno Põlluäär, Erik Kõiv, Alvo Aabloo, Karl Kruusamäe, Arun Kumar Singh (2022) Scalable and heterogenous mobile robot fleet-based task automation in crowded hospital environments—a field test, Frontiers in Robotics and AI. http://doi.org/10.3389/frobt.2022.922835
- Shashank Srikanth, Mithun Babu, Houman Masnavi, Arun Kumar Singh, Karl Kruusamäe, Krishnan Madhava Krishna (2022) Fast Adaptation of Manipulator Trajectories to Task Perturbation by Differentiating through the Optimal Solution, Sensors. https://doi.org/10.3390/s22082995
- Valner, R., Dydynski, J.M., Cho, S., Kruusamäe, K. (2021) Communication of Hazards in Mixed-Reality Telerobotic Systems: The Usage of Naturalistic Avoidance Cues in Driving Tasks, Human Factors. http://doi.org/10.1177/0018720820902293
- Karl Kruusamäe (2021) En attendant Robot, Vikerkaar.
- Rastgar, F., Masnavi, H., Shrestha, J., Kruusamae, K., Aabloo, A., Singh, A.K. (2021) GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization, IEEE Robotics and Automation Letters. http://doi.org/10.1109/LRA.2021.3061398
- Rinne, P., Põldsalu, I., Ratas, H.K., Kruusamäe, K., Johanson, U., Tamm, T., Põhako-Esko, K., Punning, A., Peikolainen, A.-L., Kaasik, F., Must, I., van den Ende, D., Aabloo, A. (2020) Fabrication of carbon-based ionic electromechanically active soft actuators, Journal of Visualized Experiments. http://doi.org/10.3791/61216
- Valner, R., Kruusamäe, K., Pryor, M. (2018) TeMoto: Intuitive multi-range telerobotic system with natural gestural and verbal instruction interface, Robotics. http://doi.org/10.3390/robotics7010009
- Zhu, Z., Horiuchi, T., Kruusamae, K., Chang, L., Asaka, K. (2016) The effect of ambient humidity on the electrical response of ion-migration-based polymer sensor with various cations, Smart Materials and Structures. http://doi.org/10.1088/0964-1726/25/5/055024
- Zhu, Z., Horiuchi, T., Kruusamäe, K., Chang, L., Asaka, K. (2016) Influence of Ambient Humidity on the Voltage Response of Ionic Polymer-Metal Composite Sensor, Journal of Physical Chemistry B. http://doi.org/10.1021/acs.jpcb.5b12634
- Karl Kruusamae, Ken Mukai, Takushi Sugino, Kinji Asaka (2015) Electroactive Shape-Fixing of Bucky-Gel Actuators, IEEE/ASME Transactions on Mechatronics. http://doi.org/10.1109/tmech.2014.2362917
- Horiuchi, T., Kruusamäe, K., Zhu, Z., Asaka, K. (2015) Evaluating curvature and making picture-overlaid trajectory of motion of largely bent carbon nanotube composite bucky gel actuator using camera measurement system, Sensors and Actuators, A: Physical. http://doi.org/10.1016/j.sna.2015.09.034
- Karl Kruusamäe, Andres Punning, Alvo Aabloo, Kinji Asaka (2015) Self-Sensing Ionic Polymer Actuators: A Review, Actuators. http://doi.org/10.3390/act4010017
- Kruusamäe, K., Sugino, T., Asaka, K. (2015) Ionic and viscoelastic mechanisms of a bucky-gel actuator, Journal of Applied Physics. http://doi.org/10.1063/1.4923351
- Kruusamäe, K., Mukai, K., Sugino, T., Asaka, K. (2014) Mechanical behaviour of bending bucky-gel actuators and its representation, Smart Materials and Structures. http://doi.org/10.1088/0964-1726/23/2/025031
- Andres Punning, Indrek Must, Inga Põldsalu, Veiko Vunder, Rauno Temmer, Karl Kruusamäe, Friedrich Kaasik, Janno Torop, Pille Rinne, Tõnis Lulla, Urmas Johanson, Tarmo Tamm, Alvo Aabloo (2014) Lifetime measurements of ionic electroactive polymer actuators, Journal of Intelligent Material Systems and Structures. http://doi.org/10.1177/1045389x14546656
- Punning, A., Kim, K.J., Palmre, V., Vidal, F., Plesse, C., Festin, N., Maziz, A., Asaka, K., Sugino, T., Alici, G., Spinks, G., Wallace, G., Must, I., P�ldsalu, I., Vunder, V., Temmer, R., Kruusam�e, K., Torop, J., Kaasik, F., Rinne, P., Johanson, U., Peikolainen, A.-L., Tamm, T., Aabloo, A. (2014) Ionic electroactive polymer artificial muscles in space applications, Scientific Reports. http://doi.org/10.1038/srep06913
- Karl Kruusamäe, Ken Mukai, Takushi Sugino, Kinji Asaka (2014) Impact of viscoelastic properties on bucky-gel actuator performance, Journal of Intelligent Material Systems and Structures. http://doi.org/10.1177/1045389x14538538
- Einike Pilli, Marek Sammul, Piia Post, Ülle Aasjõe, Karl Kruusamäe (2013) Eesti kõrgkoolide esmakursuslaste õpi- ja teadmuskäsitus, Eesti Haridusteaduste Ajakiri = Estonian Journal of Education. http://doi.org/10.12697/eha.2013.1.08
- Kruusamäe, K., Punning, A., Aabloo, A. (2012) Electrical model of a carbon-polymer composite (CPC) collision detector, Sensors. http://doi.org/10.3390/s120201950
- Kruusamäe, K., Brunetto, P., Punning, A., Kodu, M., Jaaniso, R., Graziani, S., Fortuna, L., Aabloo, A. (2011) Electromechanical model for a self-sensing ionic polymer-metal composite actuating device with patterned surface electrodes, Smart Materials and Structures. http://doi.org/10.1088/0964-1726/20/12/124001
- Kruusamäe, K., Brunetto, P., Graziani, S., Punning, A., Di Pasquale, G., Aabloo, A. (2010) Self-sensing ionic polymer-metal composite actuating device with patterned surface electrodes, Polymer International. http://doi.org/10.1002/pi.2752
Conference Papers
- Rybalskii, I., Kruusamäe, K., Singh, A.K., Schlund, S. (2024) An Augmented Reality Interface for Safer Human-Robot Interaction in Manufacturing, IFAC-PapersOnLine. http://doi.org/10.1016/j.ifacol.2024.09.275
- Baksh, F., Zorec, M., Kruusamäe, K. (2024) Designing Social Robots for Learning: HRI Participatory Design Workshop, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). http://doi.org/10.1007/978-3-031-65884-6_22
- Raudmäe, R., Vunder, V., Kandlhofer, M., Breiling, B., Sumper-Sabitzer, M., Mõtshärg, E., Schumann, S., Kruusamäe, K. (2024) Open Source and Portable Educational Kits for Enabling Robotics Education, Lecture Notes in Networks and Systems. http://doi.org/10.1007/978-3-031-67059-6_24
- Rastgar, F., Masnavi, H., Kruusamäe, K., Aabloo, A., Singh, A.K. (2023) GPU Accelerated Batch Trajectory Optimization for Autonomous Navigation, Proceedings of the American Control Conference. http://doi.org/10.23919/ACC55779.2023.10156088
- Schumann, S., Krūmiņš, D., Vunder, V., Aabloo, A., Siiman, L.A., Kruusamäe, K. (2023) A Beginner-Level MOOC on ROS Robotics Leveraging a Remote Web Lab for Programming Physical Robots, Lecture Notes in Networks and Systems. http://doi.org/10.1007/978-3-031-38454-7_24
- Adajania, V.K., Masnavi, H., Rastgar, F., Kruusamae, K., Singh, A.K. (2021) Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Leveraging Hidden Convex Structures, IEEE International Conference on Intelligent Robots and Systems. http://doi.org/10.1109/IROS51168.2021.9636337
- Oidekivi, M., Nolte, A., Aabloo, A., Kruusamae, K. (2021) Interpreting externally expressed intentions of an autonomous vehicle, International Conference on Human System Interaction, HSI. http://doi.org/10.1109/HSI52170.2021.9538693
- Oidekivi, M., Nolte, A., Aabloo, A., Kruusamae, K. (2021) Identifying emotions from facial expression displays of robots - Results from a survey study, International Conference on Human System Interaction, HSI. http://doi.org/10.1109/HSI52170.2021.9538774
- Aschenbrenner, D., Rieder, J.S.I., Van Tol, D., Van Dam, J., Rusak, Z., Blech, J.O., Azangoo, M., Panu, S., Kruusamäe, K., Masnavi, H., Rybalskii, I., Aabloo, A., Petry, M., Teixeira, G., Thiede, B., Pedrazzoli, P., Ferrario, A., Foletti, M., Confalonieri, M., Bertaggia, D., Togias, T., Makris, S. (2020) Mirrorlabs - Creating accessible Digital Twins of robotic production environment with Mixed Reality, Proceedings - 2020 IEEE International Conference on Artificial Intelligence and Virtual Reality, AIVR 2020. http://doi.org/10.1109/AIVR50618.2020.00017
- Rastgar, F., Singh, A.K., Masnavi, H., Kruusamae, K., Aabloo, A. (2020) A novel trajectory optimization for affine systems: Beyond convex-concave procedure, IEEE International Conference on Intelligent Robots and Systems. http://doi.org/10.1109/IROS45743.2020.9341566
- Veiko Vunder, Robert Valner, Conor McMahon, Karl Kruusamae, Mitch Pryor (2018) Improved Situational Awareness in ROS Using Panospheric Vision and Virtual Reality, 2018 11th International Conference on Human System Interaction (HSI). http://doi.org/10.1109/hsi.2018.8431062
- Valner, Robert and Vunder, Veiko and Kruusamäe, Karl and Pryor, Mitchell W and Zelenak, Andy (2018) TeMoto 2.0: Source Agnostic Command-to-Task Architecture Enabling Increased Autonomy in Remote Systems, Proceedings of Waste Management Symposia 2018 (WM2018).
- Valner, Robert and Vunder, Veiko and Zelenak, Andy and Pryor, Mitch and Aabloo, Alvo and Kruusam{\"{a}}e, Karl (2018) Intuitive “Human-on-the-Loop” Interface for Tele-Operating Remote Mobile Manipulator Robots, Proceedings of i-SAIRAS 2018.
- Andrew Sharp, Karl Kruusamae, Ben Ebersole, Mitch Pryor (2017) Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces, 2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO). http://doi.org/10.1109/arso.2017.8025195
- Karl Kruusamae, Mitch Pryor (2016) High-precision telerobot with human-centered variable perspective and scalable gestural interface, 2016 9th International Conference on Human System Interactions (HSI). http://doi.org/10.1109/hsi.2016.7529630
- Kruusamäe, K., Thompson, J., Pryor, M. (2016) Spatially-Mapped Human-Robot interface for teleoperation of high-precision tasks, D and RS 2016 - Decommissioning and Remote Systems.
- Kruusamäe, K., Sugino, T., Asaka, K. (2015) Measuring blocking force to interpret ionic mechanisms within bucky-gel actuators, Proceedings of SPIE - The International Society for Optical Engineering. http://doi.org/10.1117/12.2083812
- Kruusamäe, K., Mukai, K., Sugino, T., Asaka, K. (2014) The viscoelastic effect in bending bucky-gel actuators, Proceedings of SPIE - The International Society for Optical Engineering. http://doi.org/10.1117/12.2044745
- Kruusamäe, K., Kaasik, F., Punning, A., Aabloo, A. (2013) Self-sensing ionic electromechanically active actuator with patterned carbon electrodes, Proceedings of SPIE - The International Society for Optical Engineering. http://doi.org/10.1117/12.2012021
- Kruusam{\"{a}}e, Karl and Asaka, Kinji (2013) Thermo- and electromechanical properties of bucky-gel bending actuators under external loading, 第31回日本ロボット学会学術講演会.
- Juha Kontio and Patric Granholm and Heikki Valmu and Janne M{\"a}ntykoski and Karl Kruusam{\"a}e and Marija Autstuoliene and Loreta Savulioniene and Hussmann, {Peter Munkebo} and Kristina Edstr{\"o}m (2012) Supporting Programme Development with Self‐ and Cross‐evaluations – Results from an International Quality, Proceedings of the International Conference on Engineering Education 2012.
- Kruusamäe, K., Punning, A., Aabloo, A. (2011) Self-sensing properties of carbon-polymer composite (CPC) actuators, Proceedings of SPIE - The International Society for Optical Engineering. http://doi.org/10.1117/12.880386
- Kruusamäe, K., Brunetto, P., Graziani, S., Fortuna, L., Kodu, M., Jaaniso, R., Punning, A., Aabloo, A. (2010) Experiments with self-sensing IPMC actuating device, Proceedings of SPIE - The International Society for Optical Engineering. http://doi.org/10.1117/12.847503
- Kruusamäe, K., Punninga, A., Kruusmaa, M., Aabloo, A. (2009) Dynamical variation of the impedances of IPMC, Proceedings of SPIE - The International Society for Optical Engineering. http://doi.org/10.1117/12.815642
Other
- Justin W. Hart, Nick DePalma, Mitchell W. Pryor, Bradley Hayes, Karl Kruusamäe, Reuth Mirsky, Xuesu Xiao (2021) Exploring Applications for Autonomous Nonverbal Human-Robot Interaction, Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction. http://doi.org/10.1145/3434074.3444882
- Kinji Asaka, Karl Kruusamäe, Kwang Kim, Viljar Palmre, Kam K. Leang (2016) IPMCs as EAPs: How to Start Experimenting with Them, Electromechanically Active Polymers. http://doi.org/10.1007/978-3-319-31530-0_10
- Karl Kruusamäe (2011) Tehislihased: ajamid mikrorobotitele, kuid mitte ainult, Eesti Füüsika Seltsi aastaraamat.
Theses
PhD thesis
- Karl Kruusamäe (2012), Deformation-dependent electrode impedance of ionic electromechanically active polymers, Dissertationes physicae Universitatis Tartuensis 83 (128 p).
MSc thesis
- Karl Kruusamäe (2008), Isetundlik IPMC täitur, Magistritöö (30 EAP, 47 lk), Tartu Ülikooli loodus- ja tehnoloogiateaduskond.
Videos
- UniTartu IMS Robotics @ YouTube
- Temoto [手元] shared autonomy telerobot agent on YouTube: (1) (2) (3)
- Tartu Ülikooli robotikarja animatsioon (DivX, 40.9 MB) (YouTube)
- Team Helina ja Püha Vaim 4000 (XviD, 21.6 MB) (YouTube)
- Berit Talpsepa robootiline skulptuur "Superheterodüünvastuvõtt" (XviD, 21.7 MB) (YouTube)
- Team Helina ja Püha Vaim 3000 (XviD, 28.6 MB) (YouTube)
