Publications by Rico Möckel | EPFL Graph Search

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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 ...

This article addresses the problem of how modular robotics systems, i.e. systems composed of multiple modules that can be configured into different robotic structures, can learn to locomote. In particular, we tackle the problems of online learning, that is ...

: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...

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 ...

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 ...

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 ...

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, ...

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 ...

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 ...

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 ...

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; ...

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 ...

Rico Möckel

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Roombots: Reconfigurable Robots for Adaptive Furniture

Learning to move in modular robots using central pattern generators and online optimization

Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain

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

Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality

Natural User Interface for Roombots

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

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

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

Locomotion in modular robots based on central pattern generators

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

Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface

An Easy to Use Bluetooth Scatternet Protocol for fast Data Exchange in Wireless Sensor Networks and Autonomous Robots

Compliant and adaptive control of a planar monopod hopper in rough terrain

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

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

Adaptive Locomotion Control in Modular Robotics