Publications de Stéphane Bonardi

Natural user interface for lighting control: Case study on desktop lighting using modular robots

Auke Ijspeert, Stéphane Bonardi, Massimo Vespignani, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser

Roombots (RB) are self-reconfigurable modular robots designed to explore physical structure change by robotic reconfiguration and adaptive locomotion on structured grid environment or unstructured environment. The primary goal of RB is to create adaptive f ...

Ieee2016

Role of Compliance on the Locomotion of a Reconfigurable Modular Snake Robot

Auke Ijspeert, Stéphane Bonardi, Massimo Vespignani, Kamilo Andres Melo Becerra

This paper presents the results of a study on the effect of in-series compliance on the locomotion of a simulated 8-DoF Lola-OP Modular Snake Robot with added compliant elements. We explore whether there is an optimal stiffness for gait, terrain type, or s ...

2015

Control and interaction strategies for self-reconfigurable modular robots

Stéphane Bonardi

EPFL2014

Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom, Stéphane Bonardi, Massimo Vespignani

The design of efficient locomotion controllers for arbitrary structures of reconfigurable modular robots is challenging because the morphology of the structure can change dynamically during the completion of a task. In this paper, we propose a new method t ...

2014

Natural User Interface for Roombots

Auke Ijspeert, Rico Möckel, Stéphane Bonardi, Massimo Vespignani, Ayberk Özgür

Roombots (RB) are self-reconfigurable modular robots designed to study robotic reconfiguration on a structured grid and adaptive locomotion off grid. One of the main goals of this platform is to create adaptive furniture inside living spaces such as homes ...

IEEE2014

Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Stéphane Bonardi, Massimo Vespignani

In this work we provide hands-on experience on designing and testing a self-reconfiguring modular robotic system, Roombots (RB), to be used among others for adaptive furniture. In the long term, we envision that RB can be used to create sets of furniture, ...

Elsevier2014

An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots

Auke Ijspeert, Rico Möckel, Emmanuel Senft, Stéphane Bonardi, Massimo Vespignani

This paper presents the results of a study on the exploitation of compliance in structures made of self-reconfigurable modular robots - Roombots. This research was driven by the following three hypotheses: (1) compliance can improve locomotion performance; ...

Ieee2013

Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots

Auke Ijspeert, Rico Möckel, Stéphane Bonardi, Massimo Vespignani

Manipulation and transport of objects using mobile robotic platforms is a well studied field with several successful approaches. The main difficulty while using such platforms is the lack of adaptation capabilities to changes in the environment and the res ...

2013

Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Soha Pouya, Stéphane Bonardi, Massimo Vespignani

The design of efficient locomotion gaits for robots with many degrees of freedom is challenging and time con- suming even if optimization techniques are applied. Control parameters can be found through optimization in two ways: (i) through online optimizat ...

2013

Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Stéphane Bonardi, Massimo Vespignani

We present the hardware and reconfiguration experiments for an autonomous self-reconfigurable modular robot called Roombots (RB). RB were designed to form the basis for self-reconfigurable furniture. Each RB module contains three degrees of freedom that ha ...

IEEE2012

Design and Evaluation of a Graphical iPad Application for Arranging Adaptive Furniture

Auke Ijspeert, Pierre Dillenbourg, Patrick Jermann, Rico Möckel, Jérémy Blatter, Stéphane Bonardi, Julia Fink

We present the design and evaluation of an iPad application that will be used to operate the modular robots “Roombots”. Roombots are the building blocks for adaptive pieces of furniture. The application allows a user to arrange adaptive furniture within a ...

2012

Roombots: Reconfigurable Robots for Adaptive Furniture

Aude Billard, Auke Ijspeert, Pierre Dillenbourg, Rico Möckel, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom, Stéphane Bonardi

Imagine a world in which our furniture moves around like legged robots, interacts with us, and changes shape and function during the day according to our needs. This is the long term vision we have in the Roombots project. To work towards this dream, we ar ...

2010

Roombots-Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules

Auke Ijspeert, Pierre-André Mudry, Rico Möckel, Philippe Laprade, Alexander Spröwitz, Mikaël Mayer, Stéphane Bonardi

This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots metamodules. We explore how reconfiguration by locomotion from a configuration A to a co ...

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