Wim Meeussen
In January 2003 I started my Ph.D. with Herman
Bruynincks and Joris De
Schutter in the Autonomous Compliant
Motion Robotics group at the Mechanical Department,
KULeuven, Belgium. My research focuses on programing
force/vision/distance controlled autonomous
compliant motion tasks in robotics, using Particle Filters
(Sequential Monte Carlo methods) for non-linear state
estimation.
In 2004-2005, during one year, I joined the research
group of Jing
Xiao at the Computer Science Department, UNCC,
USA
Human demonstration
Programming by human demonstration exploids the advanced human manipulation skills to obtain a task description of a complex compliant motion task.
Automatic planning
A compliant path planner calculates a path for two objects in contact, based on the geometric model of both objects and a contact state graph describing all possible contacts between the two objects.
Force controlled execution
The geometric description of a path in contact is translated into a task specification for a hybrid controller, allowing a robot manipulator to execute the compliant path under active force control.