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Advancing Social Interactions Among Robots : An Institutional Economics-based Approach to Distributed Robotic Systems

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Multi-robot collaborative manufacturing driven by digital twins: Advancements, challenges, and future directions

Sichao Liu

Multi-robot systems envisioned for future factories will promote advancements and capabilities of handling complex tasks and realising optimal robotic operations. However, existing multi-robot systems face challenges such as integration complexity, difficu ...

2025

Learning to Assemble with Alternative Plans

Gabriel Rémi Vallat, Maryam Kamgarpour, Stefana Parascho, Ziqi Wang, Jingwen Wang

We present a reinforcement learning framework for constructing assemblies composed of rigid parts, which are commonly seen in many historical masonry buildings and bridges. Traditional construction methods for such structures often depend on dense scaffold ...

Association for Computing Machinery (ACM)2025

A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Rafael Botner Barmak

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

EPFL2024

Collaborative timber joint assembly: Augmented reality for multi-level human-robot interaction

Nicolas Henry Pierre Louis Rogeau

This research introduces an innovative Augmented Reality (AR) workflow for Human-Robot Interaction (HRI) in timber construction. The approach leverages human dexterity and adaptability alongside the strength and precision of robotic arms to assemble timber ...

2024

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Chiara Ercolani

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

EPFL2024

Exploiting passive behaviours for diverse musical playing using the parametric hand

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

Creativity and style in music playing originates from constraints and imperfect interactions between instruments and players. Digital and robotic systems have so far been unable to capture this naturalistic playing. Whether as an additional tool for musici ...

2024

Implicit Distance Functions: Learning and Applications in Robotics

Mikhail Koptev

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

EPFL2023

Morphological flexibility in robotic systems through physical polygon meshing

Jamie Paik, Christoph Heinrich Belke, Kevin Andrew Holdcroft

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Nature Portfolio2023

Development of a Robotic Microsurgeon for Embryonic Research

Ece Özelçi

Understanding how biological matter takes its shape is instrumental to biology, bioengineering, medicine, and bioinspired engineering. Gaining information on the principles of morphogenesis could enable clinicians to correct developmental abnormalities, ev ...

EPFL2023

Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Dario Floreano, Nicola Nosengo

Stories from the future of intelligent machines—from rescue drones to robot spouses—and accounts of cutting-edge research that could make it all possible. Tech prognosticators promised us robots—autonomous humanoids that could carry out any number of tasks ...

MIT Press2022

Dual Stiffness Tensegrity Platform for Resilient Robotics

Dario Floreano, Stefano Mintchev, Yi Sun, Davide Zappetti

Collision resilience is an important feature of robots deployed in unstructured and partially unpredictable environments. Herein, a novel dual stiffness (DS) tensegrity platform to integrate collision resilience into a robot body is proposed. The proposed ...

2022

Intentional machines: A defence of trust in medical artificial intelligence

Georg Michael Joachim Starke

Trust constitutes a fundamental strategy to deal with risks and uncertainty in complex societies. In line with the vast literature stressing the importance of trust in doctor–patient relationships, trust is therefore regularly suggested as a way of dealing ...

2022

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

2021

AcinoSet: A 3D Pose Estimation Dataset and Baseline Models for Cheetahs in the Wild

Alexander Mathis, Mackenzie Mathis

Animals are capable of extreme agility, yet understanding their complex dynamics, which have ecological, biomechanical and evolutionary implications, remains challenging. Being able to study this incredible agility will be critical for the development of n ...

IEEE2021

An Institutional Approach to Normative Distributed Robotics for Mixed Societies of Humans and Robots

Alicja Barbara Roelofsen

We are entering the era of robots, for everyone, everywhere. The expectations of the robots being reliable, intelligent and friendly artificial creatures drive the key challenges of the state-of-the-art robotics: technological, practical and social. The la ...

EPFL2020

Strategies to modulate zebrafish collective dynamics with a closed-loop biomimetic robotic system

Francesco Mondada, Alexey Gribovskiy, Frank Bonnet

The objective of this study is to integrate biomimetic robots into small groups of zebrafish and to modulate their collective behaviours. A possible approach is to have the robots behave like sheepdogs. In this case, the robots would behave like a differen ...

2020

Learning, Generating and Adapting Wave Gestures for Expressive Human-Robot Interaction

Sylvain Calinon

This study proposes a novel imitation learning approach for the stochastic generation of human-like rhythmic wave gestures and their modulation for effective non-verbal communication through a probabilistic formulation using joint angle data from human dem ...

ACM2020

CoWriting Kazakh: Learning a New Script with a Robot - Video

Pierre Dillenbourg, Wafa Monia Benkaouar Johal

This is an explanatory video that gives a short overview of the CoWriting Kazakh project(1) that aims to implement an autonomous behavior of a social robot that would assist and motivate children in learning a new script and its associated handwriting. The ...

ASSOC COMPUTING MACHINERY2020

Advanced Neurotechnologies for the Restoration of Motor Function

Silvestro Micera, Friedhelm Christoph Hummel

Stroke is one of the leading causes of long-term disability. Advanced technological solutions ("neurotechnologies'') exploiting robotic systems and electrodes that stimulate the nervous system can increase the efficacy of stroke rehabilitation. Recent stud ...

2020

Addressable Acoustic Actuation of 3D Printed Soft Robotic Microsystems

Mahmut Selman Sakar, Murat Kaynak, Pietro Luciano Jakobus Dirix

A design, manufacturing, and control methodology is presented for the transduction of ultrasound into frequency-selective actuation of multibody hydrogel mechanical systems. The modular design of compliant mechanisms is compatible with direct laser writing ...

2020