Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

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Animals have to navigate complex environments and perform intricate swimming maneuvers in the real world. To conquer these challenges, animals evolved a variety of motion control strategies. While it is known that many factors contribute to motion control, ...

This thesis addresses key challenges in developing adaptive lower-limb exoskeletons to enhance balance, mobility, and user autonomy during daily living activities. It presents a comprehensive exploration of three critical aspects: push recovery during stan ...

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 ...

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

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 ...

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...

This article summarizes the recent advancements in the design, fabrication, and control of microrobotic devices for the diagnosis and treatment of brain disorders. With a focus on diverse actuation methods, we discuss how advancements in materials science ...

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

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 ...

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 ...

All rights reserved.Introduction Gait and mobility impairment are pivotal signs of parkinsonism, and they are particularly severe in atypical parkinsonian disorders including multiple system atrophy (MSA) and progressive supranuclear palsy (PSP). A pilot s ...

Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

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Using deep reinforcement learning to investigate stretch feedback during swimming of the lamprey

Partial Assistance with Lower-Limb Exoskeletons to Enhance Gait and Balance in Daily Living Activities

Online Multicontact Receding Horizon Planning via Value Function Approximation

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Hitting with Different Joints of a Robotic Manipulator

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Robot Learning using Tensor Networks

Investigating neural resource allocation in the sensorimotor control of extra limbs

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Small-scale robotic devices for medical interventions in the brain

Educational Soft Underwater Robot with an Electromagnetic Actuation

Augmenting locomotor perception by remapping tactile foot sensation to the back

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

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

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

Effects of physiotherapy and home-based training in parkinsonian syndromes: protocol for a randomised controlled trial (MobilityAPP)