Design of robotic physical intelligence

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For robots to operate in unstructured environments, they are required to interact with objects through contact. Those contacts may be used to push objects to the side, deform objects, or manipulate objects in-hand. This thesis addresses the problem of cont ...

Compared with traditional in-pipe robots, tensegrity robots have exhibited many advantages such as light-weight, compliant, collapsible, low-cost, and rapidly manufacturable characteristics. However, published tensegrity in-pipe robots still have limited l ...

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms t ...

Photorealistic synthetic data and novel rendering techniques significantly advanced computer vision research. However, datasets focused on computer vision applications cannot be easily applied to robotics because they typically lack physics-related informa ...

Developing agents that can reliably act on our behalf is central to artificial intelligence (AI). These agents must seamlessly interact with tools, like search engines and databases, and collaborate. In this thesis, we study the abstractions, methods, and ...

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error correction. This work ai ...

Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor control is possible th ...

The study of non-contact manipulation in water, and the ability to robotically control floating objects has gained recent attention due to wide-ranging potential applications, including the analysis of plastic pollution in the oceans and the optimization o ...

In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our motivation from ...

Soft actuators with a function of variable stiffness are beneficial to the improvement of the adaptability of robots, expanding the application areas and environments. We propose a tendon-driven soft bending actuator that can change its stiffness using fib ...

The presence of conversational agents (or chatbots) in educational contexts has been steadily increasing over the past few years. Recent surveys have shown widespread interest in the use of chatbots in education, both for research and practice. Although th ...

Exploring a wide range of design options is crucial for every sound conceptual design process. In the conventional structural design workflow, optimization techniques are generally employed to generate well-performing design options. However, focusing only ...

This paper describes the first steps of an ongoing participatory design with teachers from Switzerland to co-create Human-Robot Interaction setups for integrating children with migration history. The herein presented phase had two main goals: (i) initially ...

Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators ...

Design of robotic physical intelligence

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A Stochastic Approach to Contact-rich Manipulation

SUTBot: A Soft Umbrella-like Tensegrity Robot with Elastic Struts for In-pipe Locomotion

Principles and Guidelines for Evaluating Social RobotNavigation Algorithms

GRADE: Generating Realistic and Dynamic Environments for robotics research with Isaac Sim

Collaborative AI Agents in the Era of Large Language Models

Action Contextualization: Adaptive Task Planning and Action Tuning Using Large Language Models

Online Optimization of Central Pattern Generators for Quadruped Locomotion

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

Model Predictive Control for Multi-Agent Systems under Limited Communication and Time-Varying Network Topology

Soft Bending Actuator With Fiber-Jamming Variable Stiffness and Fiber-Optic Proprioception

A Conceptual Framework for Integrating Conversational Agents in Digital Education

Computational conceptual design — typological exploration of spatial truss systems through optimization

Teacher's Perception on Social Robots to Promote the Integration of Children with Migration Background

Sensorless force and displacement estimation in soft actuators