Publications related to On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives

Related publications (33)

A Bio-Inspired Learning and Control Framework for Cross-Embodiment and Cross-Task Locomotion

Animals exhibit remarkable locomotion skills despite significant sensorimotor delays and operating in uncertain environments. Moreover, mammals acquire these skills within minutes of birth. From the Cambrian explosion to the present day, vertebrate motor c ...

EPFL2025

A data-efficient and general-purpose hand–eye calibration method for robotic systems using next best view

Sichao Liu

Calibration between robots and cameras is critical in automated robot vision systems. However, conventional manually conducted image-based calibration techniques are often limited by their accuracy sensitivity and poor adaptability to dynamic or unstructur ...

2025

Mechanoreceptive soft robotic molluscoids made of granular hydrogel-based organoelectronics

Esther Amstad, Josephine Anna Eleanor Hughes, Nana Obayashi, Lorenzo Lucherini, Francesca Bono

The viscoelasticity of many soft polymers renders flexible sensors susceptible to hysteresis and signal drift that limit their accuracy. To reduce the impact of viscoelasticity on the signal without compromising the softness of the material, we introduce e ...

2025

Wafer-Level Microfabrication of Zipping Electrohydraulic Actuators for Soft Milli-Robots

Herbert Shea, Florian Fernand Hartmann, Shai-Shmuel Shmulevich

Miniaturizing soft robots is often limited by scaling down actuators while keeping high energy density and good response time. In this work we demonstrate the wafer-level microfabrication of electrostatic zipping soft actuators, similar to peano-HASELs. Th ...

IEEE2025

DiffCheck: A scan-CAD evaluation tool for digital manufacturing and assembly processes in timber construction

Yves Weinand, Julien Gamerro, Stefana Parascho, Andrea Settimi, Marianthi Eririni Kladeftira, Eleni Maria Skevaki, Damien Lambert Alain Félicien Gilliard

In digital timber construction, scanning technologies and point cloud data are widely used due to the accessibility of affordable 3D sensors, photogrammetry, and userfriendly CAD tools. While typically not employed for accuracy checks in timber fabrication ...

CRC Press2025

Wind farm power optimization via yaw angle control: A wind tunnel study

Fernando Porté Agel, Majid Bastankhah

Yaw angle control is known nowadays as a promising and effective technique to mitigate wake effects in wind farms. In this paper, we perform wind tunnel experiments to study the performance of a model wind farm with five turbine rows under a wide variety o ...

2019

Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion

Auke Ijspeert, Guillaume Denis Antoine Bellegarda, Milad Shafiee Ashtiani

Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in the spinal cord, and musculoskeletal system. Traditional bioinspired control f ...

Institute of Electrical and Electronics Engineers Inc.2024

Enabling Faster Locomotion of Planetary Rovers With a Mechanically-Hybrid Suspension

David Rodriguez Martinez

The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range of disturbances ...

2024

On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives

Auke Ijspeert, Massimo Vespignani, Peter Eckert, Mostafa Ajallooeian

This work explores the use of active tails for steady-state legged-locomotion. Simple models are proposed which capture the dynamics of an idealized running system with an active tail. Analysis suggests that the control objectives of injecting energy into ...

World Scientific Publ Co Pte Ltd2016

Identifying important sensory feedback for learning locomotion skills

Auke Ijspeert, Guillaume Denis Antoine Bellegarda, Milad Shafiee Ashtiani

Robot motor skills can be acquired by deep reinforcement learning as neural networks to reflect state-action mapping. The selection of states has been demonstrated to be crucial for successful robot motor learning. However, because of the complexity of neu ...

NATURE PORTFOLIO2023

A wind-tunnel investigation of wind-turbine wakes in yawed conditions

Fernando Porté Agel, Majid Bastankhah

Wind-tunnel experiments were performed to study the performance of a model wind turbine and its wake characteristics in a boundary layer under different operating conditions, including different yaw angles and tip speed ratios. High-resolution particle ima ...

Journal of Physics2015

EGG Objective characterization of cybersickness symptoms towards navigation axis

Khalil Haroun Achache, Ali Raed Ben Mustapha, Ronan Boulic, Nana Tian

The current study sought to objectively evaluate cybersickness by utilizing Electrogastrogram (EGG) physiological data in relation to three different navigation axes: Translational movement along the longitudinal and lateral axes, and rotation along the ve ...

IEEE2023

Wind Turbine Wakes in Active Yaw Control: Numerical and Theoretical Studies

Mou Lin

In this thesis, we explore the best practice of simulating the wakes of the turbines under active yaw control (AYC) using large-eddy simulation (LES). In the first study, we validate the blade-element actuator disk model (ADM-BE) for a yawed wind turbine. ...

EPFL2023

Observability analysis of 3D AUV trimming trajectories in the presence of ocean currents using range and depth measurements

We analyze the observability properties of the kinematic model of an autonomous underwater vehicle (AUV) moving in 3D, under the influence of ocean currents, using range and depth measurements. The results obtained shed light into the types of trajectories ...

Pergamon-Elsevier Science Ltd2015

Introducing Productive Engagement for Social Robots Supporting Learning

Jauwairia Nasir

We have all been one such student or seen such students who can maintain the 'good student' image while playing a video game under the table or those loyal backbenchers, seemingly always distracted, who then ace their exams. These intricacies of human beha ...

EPFL2022

A Collision Resilient Flying Robot

Dario Floreano, Jean-Christophe Zufferey, Adrien Briod, Przemyslaw Mariusz Kornatowski

Flying robots that can locomote efficiently in GPS-denied cluttered environments have many applications, such as in search and rescue scenarios. However, dealing with the high amount of obstacles inherent to such environments is a major challenge for flyin ...

John Wiley & Sons2014

An Enhanced Adaptive Time Delay Control-Based Integral Sliding Mode for Trajectory Tracking of Robot Manipulators

Mohamed Bouri

This article proposes an enhanced adaptive time delay controller (ATDC) for robot manipulators subjected to external disturbances. This approach is model-free and uses time delay estimation (TDE) to estimate complex and unknown robot dynamics. First, to re ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Sharp turning maneuvers with avian-inspired wing and tail morphing

Dario Floreano, Valentin Wüest, Enrico Ajanic

Flight in dense environments, such as forests and cities requires drones to perform sharp turns. Although fixed-wing drones are aerodynamically and energetically more efficient than multicopters, they require a comparatively larger area to turn and thus ar ...

2022

Design of multi-stimuli responsive hybrid pneumatic-magnetic soft actuator with novel channel integration

Yi Sun

Smart polymeric materials based soft actuators are flexible, lightweight, and can deliver a wide range of actu-ations. Thus, they are ideal for applications requiring delicate and unconventional motions, such as biomedical and soft robotics. This paper rep ...

2022

Questioning Wizard of Oz: Effects of Revealing the Wizard behind the Robot

Pierre Dillenbourg, Barbara Bruno, Jauwairia Nasir

Wizard of Oz, a very commonly employed technique in human-robot interaction, faces the criticism of being deceptive as the humans interacting with the robot are told, if at all, only at the end of their interaction that there was in fact a human behind the ...

IEEE2022