Publications associées à Micro manipulation by adhesion with two collaborating mobile micro robots

Online Multicontact Receding Horizon Planning via Value Function Approximation

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Challenges and approaches in bridging the biomimicry gap in biohybrid systems of fish and robots

Vaios Papaspyros

As the field of ethology advances, especially over the past two decades, the role of animal-robot interaction tools has increasingly become essential. This importance arises from the need for controlled, repetitive, repeatable, and long-duration experiment ...

EPFL2023

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

Are Functional Measures Sufficient to Capture Acceptance? A Qualitative Study on Lower Limb Exoskeleton Use for Older People

Mohamed Bouri

Lower limb exoskeletons (LLE) are robotic devices developed to assist walk. In the field of healthcare, this technology has been available for almost a decade, yet it still faces important acceptance issues. While LLE were first developed for patients with ...

SPRINGER2022

A Robotic Teacher Community to Foster the Integration of Educational Robotics in School

Sophia Reyes Mury

The digital society requires the acquisition of skills related to computer sciences like computational thinking or competences in coding. Also transversal competences like communication, collaboration and creativity are increasingly important. Educational ...

Springer, Cham2021

Deep Learning Approaches for Auditory Perception in Robotics

Weipeng He

Auditory perception is an essential part of a robotic system in Human-Robot Interaction (HRI), and creating an artificial auditory perception system that is on par with human has been a long-standing goal for researchers. In fact, this is a challenging res ...

EPFL2021

Development of soft microscopic implants and acoustically-powered machines for biomedical applications

Murat Kaynak

The development of miniaturized machines that can actively cross barriers, navigate through heterogeneous materials and access remote sites can revolutionize environmental inspection and targeted therapy. Seminal work demonstrated the feasibility of follow ...

EPFL2021

Developing STEM and Team-working Skills Through Collaborative Space Robotics Missions

Francesco Mondada, Evgeniia Bonnet

Building on the success of the first North-South cross-continental collaborative educational robotics mission held in November 2015 [1], this paper presents a practical model for scaling the event up into a program for developing countries, particularly th ...

IEEE2021

Changing Perspective as A Learning Mechanism

Pierre Dillenbourg, Ana Paiva, Elmira Yadollahi

One of the numerous approaches that increases the interaction quality between two people is having a proper understanding of the other person's perspective. In this doctoral thesis, we aim to understand children's perspective taking behavior, create a pers ...

ASSOC COMPUTING MACHINERY2020

Wearable and Self-Aware Machine Learning System for Online Cognitive Workload Monitoring and Drone Control

Fabio Isidoro Tiberio Dell'Agnola

The use of robots in search and rescue is gaining particular interest, but singular skills are required to ensure efficient deployments in real missions. To face this problem, there is a need to develop more intuitive control interfaces. Moreover, to ensur ...

EPFL2020

Design and development of the efficient anguilliform swimming robot- MAR

Auke Ijspeert, Peter Eckert, Anouk Looijestijn

Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...

2020

Recent Advances in Robot Learning from Demonstration

Aude Billard, Athanasios Polydoros

In the context of robotics and automation, learning from demonstration (LfD) is the paradigm in which robots acquire new skills by learning to imitate an expert. The choice of LfD over other robot learning methods is compelling when ideal behavior can be n ...

2020

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Jamie Paik, Frédéric Henri Vaskin Giraud, Hongying Zhang, Yongkang Jiang

In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipe-climbing robots, which are important for automatically conducting periodi ...

2020

Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’

Jamie Paik, Özdemir Can Kara, Matthew Aaron Robertson

This article presents a new modular robotic platform for enabling reconfigurable, actively controlled, high-degree-of-freedom (high-DoF) systems with compact form factor. The robotic modules exploit the advantages of origami-inspired construction methods a ...

2021

Sensorless Quasi-static Piezoelectric Actuator for Micro-Robotics

Louis Antoine Masson

Research interest into the miniaturisation of micro-robots has soared in recent years due to the availability of suitable integrated actuators. The reduction in size of these components is achieved through the implementation of Self-Sensing Actuation (SSA) ...

EPFL2020

Trends and challenges in robot manipulation

Aude Billard

Our ability to grab, hold, and manipulate objects involves our dexterous hands, our sense of touch, and feedback from our eyes and muscles that allows us to maintain a controlled grip. Billard and Kragic review the progress made in robotics to emulate thes ...

American Association for the Advancement of Science2019

RoboScallop: A Bivalve Inspired Swimming Robot

Jamie Paik, Matthew Aaron Robertson

Underwater swimming robots permit remote access to over 70% of the Earth's surface that is covered in water for a variety of scientific, environmental, tactical, or industrial purposes. Many practical applications for robots in this setting include sensing ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2019

Benchmarking Agility For Multilegged Terrestrial Robots

Auke Ijspeert, Peter Eckert

In this paper, we present a novel and practical approach for benchmarking agility. We focus on terrestrial, multilegged locomotion in the field of bio-inspired robotics. We define agility as the ability to perform a set of different but specific tasks exec ...

2019

Delicate yet strong: characterizing the electro-adhesion lifting force with a soft gripper

Herbert Shea, Jun Shintake, Vito Cacucciolo

Compliant grippers are one of the most promising soft robotic devices for industrial tasks. Soft grippers dramatically simplify grasping control because the gripper automatically conforms to the object's shape. A common limitation of soft structures is tha ...

IEEE2019

Designing Minimal and Scalable Insect-Inspired Multi-Locomotion Millirobots

Jamie Paik, Zhenishbek Zhakypov, Kazuaki Mori

In ant colonies, collectivity enables division of labour and resources with great scalability. Beyond their intricate social behaviours, individuals of the genus Odontomachus, also known as trap-jaw ants, have developed remarkable multi-locomotion mechanis ...

2019