Adaptive Locomotion of Soft Microrobots
Networked Control and Communication
Controller Learning using Bayesian Optimization
Event-based Wireless Control of Cyber-physical Systems
Model-based Reinforcement Learning for PID Control
Learning Probabilistic Dynamics Models
Gaussian Filtering as Variational Inference
Haptische Intelligenz
Members
Publications
Ten diverse real surfaces from which we recorded high-quality haptic and auditory interaction data [
].
Capturing and Recognizing Multimodal Surface Interactions
].
Exploring a surface with a handheld tool generates complex contact signals that uniquely encode the surface's properties. This project introduces an automated similarity framework for multimodal surface recognition based on kernel two-sample testing [], develops a haptic-auditory test bed for acquiring high-quality surface data [], and explores optimal sensing configurations to improve recognition performance and robustness [].
], develops a haptic-auditory test bed for acquiring high-quality surface data [], and explores optimal sensing configurations to improve recognition performance and robustness [].
Members
Publications
Haptic Intelligence
Ph.D. Thesis
Capturing and Recognizing Multimodal Surface Interactions as Embedded High-Dimensional Distributions
Khojasteh, B.
University of Stuttgart, Stuttgart, Germany, December 2024, Faculty of Engineering Design, Production Engineering and Automotive Engineering (Published)
BibTeX
Haptic Intelligence
Intelligent Control Systems
Article
Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test
Khojasteh, B., Solowjow, F., Trimpe, S., Kuchenbecker, K. J.
IEEE Transactions on Automation Science and Engineering, 21(3):4432-4447, July 2024 (Published)
DOI
BibTeX
Haptic Intelligence
Article
Robust Surface Recognition With the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals Through Bandwidth and Noise
Khojasteh, B., Shao, Y., Kuchenbecker, K. J.
IEEE Transactions on Haptics, 17(1):58-65, January 2024, Presented at the IEEE Haptics Symposium (Published)
DOI
BibTeX
Haptic Intelligence
Miscellaneous
MPI-10: Haptic-Auditory Measurements from Tool-Surface Interactions
Khojasteh, B., Shao, Y., Kuchenbecker, K. J.
Dataset published as a companion to the journal article "Robust Surface Recognition with the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals through Bandwidth and Noise" in IEEE Transactions on Haptics, January 2024 (Published)
DOI
BibTeX
Haptic Intelligence
Miscellaneous
Seeking Causal, Invariant, Structures with Kernel Mean Embeddings in Haptic-Auditory Data from Tool-Surface Interaction
Khojasteh, B., Shao, Y., Kuchenbecker, K. J.
Workshop paper (4 pages) presented at the IROS Workshop on Causality for Robotics: Answering the Question of Why, Detroit, USA, October 2023 (Published)
Manuscript
BibTeX
Haptic Intelligence
Miscellaneous
Capturing Rich Auditory-Haptic Contact Data for Surface Recognition
Khojasteh, B., Shao, Y., Kuchenbecker, K. J.
Work-in-progress paper (1 page) presented at the IEEE World Haptics Conference (WHC), Delft, The Netherlands, July 2023 (Published)
BibTeX
Haptic Intelligence
Intelligent Control Systems
Miscellaneous
Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test: Code
Khojasteh, B., Solowjow, F., Trimpe, S., Kuchenbecker, K. J.
Code published as a companion to the journal article "Multimodal Multi-User Surface Recognition with the Kernel Two-Sample Test" in IEEE Transactions on Automation Science and Engineering, July 2023 (Published)
DOI
BibTeX
Haptic Intelligence
Miscellaneous
Surface Perception through Haptic-Auditory Contact Data
Khojasteh, B., Shao, Y., Kuchenbecker, K. J.
Workshop paper (4 pages) presented at the ICRA Workshop on Embracing Contacts, London, UK, May 2023 (Published)
URL
BibTeX