Publications related to Design considerations for robotically assembled through-tenon timber joints

Related publications (36)

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

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

Experimental assessment, design, and control of compliance in dexterous robotic hands

Kai Christian Junge

The ability to make compliant physical interactions enables robots to robustly contact with the environment. This plays a significant role in advancing robotic hands which must constantly interact with the world, often with large uncertainties and variatio ...

EPFL2025

Hitting with Different Joints of a Robotic Manipulator

Aude Billard, Harshit Khurana

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 ...

2024

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

Lukas Huber

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 ...

EPFL2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

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 ...

EPFL2024

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

Alcherio Martinoli, Wanting Jin

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 ...

2024

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

Josephine Anna Eleanor Hughes

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 ...

Mary Ann Liebert, Inc2024

Robot Learning using Tensor Networks

Suhan Narayana Shetty

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 ...

EPFL2024

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

Izzet Kagan Erünsal

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 ...

EPFL2024

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

Rearranging Deformable Linear Objects for Implicit Goals with Self-Supervised Planning and Control

Luyin Hu

The robotic manipulation of deformable linear objects is a frontier problem with many potential applications in diverse industries. However, most existing research in this area focuses on shape control for a provided explicit goal and does not consider phy ...

2024

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Aude Billard, Lukas Huber

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 ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Online Multicontact Receding Horizon Planning via Value Function Approximation

Sylvain Calinon, Teguh Santoso Lembono

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 ...

Ieee-Inst Electrical Electronics Engineers Inc2024

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

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

Small-scale robotic devices for medical interventions in the brain

Mahmut Selman Sakar, Lorenzo Francesco John Noseda

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 ...

2024

Towards edible robots and robotic food

Dario Floreano, Jun Shintake, Bokeon Kwak, Markéta Pankhurst

Edible robots and robotic food — edible systems that perceive, process and act upon stimulation — could open a new range of opportunities in health care, environmental management and the promotion of healthier eating habits. For example, they could enable ...

2024

Investigating neural resource allocation in the sensorimotor control of extra limbs

Giulia Dominijanni

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 ...

EPFL2024

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Francesco Mondada, Vaios Papaspyros

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 ...

2024