Dual Stiffness Tensegrity Platform for Resilient Robotics

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Actuators based on soft elastomers offer significant advantages to the field of robotics, providing greater adaptability, improving collision resilience, and enabling shape-morphing. Thus, soft fluidic actuators have seen an expansion in their fields of ap ...

Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...

There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

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 ...

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

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 ...

In construction robotics, a conventional design-to-fabrication work-flow starts with designing a structure, followed by task and robotic motion planning, and ultimately, fabrication. However, this approach can prove unsuccessful, as we may only discover th ...

Dual Stiffness Tensegrity Platform for Resilient Robotics

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A Soft Robotic Morphing Wing for Unmanned Underwater Vehicles

Frequency response of fiber reinforced DEAs

Geometric Learning: Leveraging differential geometry for learning and control

Self-Correcting Quadratic Programming-Based Robot Control

Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

Exploration-based model learning with self-attention for risk-sensitive robot control

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Avian-Inspired Claws Enable Robot Perching or Walking

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

Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

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

Reinforcement learning for scaffold-free construction of spanning-structures