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Publications associées (32)

Haptics based collaborative steering control in automated driving environments

Tomohiro Nakade

A vehicle's steering is a particular system in that it is exposed to individual subjective reviews based on criteria that are hard to assess quantitatively. Haptic design of such systems is a prime concern that has been at the center of industrial developm ...

EPFL2023

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Josephine Anna Eleanor Hughes, Francesco Stella, Qinghua Guan

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

IEEE2023

Immediate effects of short-duration wellbeing practices on children’s handwriting and posture guided by a social robot

Pierre Dillenbourg, Chenyang Wang, Barbara Bruno, Daniel Carnieto Tozadore, Melike Cezayirlioglu

Handwriting practising, as any other repetitive task, often leads the practiser to an overconcentration state where their performance might be affected by postural and mental fatigue. Short breaks to perform unrelated activities, especially relaxation exer ...

2023

Supporting Teachers' Orchestration in Robot-mediated Classrooms

Sina Shahmoradi

To bring educational robots to classrooms, we need to consider teachers' self-efficacy and challenges in managing a robot-mediated classroom, and how to support them in overcoming these challenges. Orchestration tools are designed to support teachers by pr ...

EPFL2023

Identifying important sensory feedback for learning locomotion skills

Auke Ijspeert, Guillaume Denis Antoine Bellegarda, Milad Shafiee Ashtiani

Robot motor skills can be acquired by deep reinforcement learning as neural networks to reflect state-action mapping. The selection of states has been demonstrated to be crucial for successful robot motor learning. However, because of the complexity of neu ...

NATURE PORTFOLIO2023

Inverse Reinforcement Learning of Pedestrian-Robot Coordination

Aude Billard, David Julian Gonon

We apply inverse reinforcement learning (IRL) with a novel cost feature to the problem of robot navigation in human crowds. Consistent with prior empirical work on pedestrian behavior, the feature anticipates collisions between agents. We efficiently learn ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Haptics based multi-level collaborative steering control for automated driving

Hannes Bleuler, Jürg Alexander Schiffmann, Tomohiro Nakade, Robert Fuchs

Increasing the capability of automated driving vehicles is motivated by environmental, productivity, and traffic safety benefits. But over-reliance on the automation system is known to cause accidents. The role of the driver cannot be underestimated as it ...

2023

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

Josephine Anna Eleanor Hughes, Francesco Stella

Soft robots aim to revolutionize how robotic systems interact with the environment thanks to their inherent compliance. Some of these systems are even able to modulate their physical softness. However, simply equipping a robot with softness will not genera ...

MARY ANN LIEBERT, INC2023

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Stéphanie Lacour, Ivan Furfaro, Emilio Fernández Lavado, Haotian Chen

Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...

2023

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Josephine Anna Eleanor Hughes, Francesco Stella

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction

Nicolas Henry Pierre Louis Rogeau

The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...

EPFL2023

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