Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems

Many modern nonlinear control methods aim to endow systems with guaranteed properties, such as stability or safety, and have been successfully applied to the domain of robotics. However, model uncertainty remains a persistent challenge, weakening theoretical guarantees and causing implementation failures on physical systems. This paper develops a machine learning framework centered around Control Lyapunov Functions (CLFs) to adapt to parametric uncertainty and unmodeled dynamics in general robotic systems. Our proposed method proceeds by iteratively updating estimates of Lyapunov function derivatives and improving controllers, ultimately yielding a stabilizing quadratic program model-based controller. We validate our approach on a planar Segway simulation, demonstrating substantial performance improvements by iteratively refining on a base model-free controller

Smart Kitchens for People with Cognitive Impairments: A Qualitative Study of Design Requirements

Individuals with cognitive impairments currently leverage extensive human resources during their transitions from assisted living to independent living. In Western Europe, many government-supported volunteer organizations provide sheltered living facilities; supervised environments in which people with cognitive impairments collaboratively learn daily living skills. In this paper, we describe communal cooking practices in sheltered living facilities and identify opportunities for supporting these with interactive technology to reduce volunteer workload. We conducted two contextual observations of twelve people with cognitive impairments cooking in sheltered living facilities and supplemented this data through interviews with four employees and volunteers who supervise them. Through thematic analysis, we identified four themes to inform design requirements for communal cooking activities: Work organization, community, supervision, and practicalities. Based on these, we present five design implications for assistive systems in kitchens for people with cognitive deficiencies

Robot Autonomy for Surgery

Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision of care due to sub-millimeter robot control, real-time utilization of biosignals for interventional care, improvements to surgical efficiency and execution, and computer-aided guidance under various medical imaging and sensing modalities. While these methods may displace some tasks of surgical teams and individual surgeons, they also present new capabilities in interventions that are too difficult or go beyond the skills of a human. In this chapter, we provide an overview of robot autonomy in commercial use and in research, and present some of the challenges faced in developing autonomous surgical robots