Publications related to Tactile Ergodic Coverage on Curved Surfaces

Related publications (14)

Robotic locomotion through active and passive morphological adaptation in extreme outdoor environments

Josephine Anna Eleanor Hughes, Qinghua Guan, Max Mirko Polzin

Robotic locomotion has shown substantial advancements, yet robots still lack the versatility and agility shown by animals navigating complex terrains. This limits their applicability in complex environments where they could be highly beneficial. Unlike exi ...

AMER ASSOC ADVANCEMENT SCIENCE2025

Ergodic Exploration Using Tensor Train: Applications in Insertion Tasks

Sylvain Calinon, Suhan Narayana Shetty

In robotics, ergodic control extends the tracking principle by specifying a probability distribution over an area to cover instead of a trajectory to track. The original problem is formulated as a spectral multiscale coverage problem, typically requiring t ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’

Jamie Paik, Matthew Aaron Robertson, Özdemir Can Kara

This article presents a new modular robotic platform for enabling reconfigurable, actively controlled, high-degree-of-freedom (high-DoF) systems with compact form factor. The robotic modules exploit the advantages of origami-inspired construction methods a ...

SAGE Publications2021

Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users

Auke Ijspeert, Mohamed Bouri, Jemina Fasola, Romain Pierre François Baud, Tristan Hubert Vouga

Several lower-limb exoskeletons enable overcoming obstacles that would impair daily activities of wheelchair users, such as going upstairs. Still, as most of the currently commercialized exoskeletons require the use of crutches, they prevent the user from ...

2020

Fast multi-contact whole-body motion planning with limb dynamics

Auke Ijspeert, Salman Faraji, Jonathan Patrick Arreguit O'Neill

We present a new method for multi-contact motion planning which efficiently encodes internal dynamics of the robot without needing to use full models. Our approach is based on a five-mass model which is formulated by Cartesian points instead of joint angle ...

IEEE2018

Workshop on Robots for Learning: R4L

Pierre Dillenbourg, Wafa Monia Benkaouar Johal

While robots have been popular as a tool for STEM teaching, the use of robots in other learning scenarios is novel. The field of HRI has started to report on how to make effective robots usable in educational contexts. However, many challenges remain. For ...

ACM2017

Control and Learning of Compliant Manipulation Skills

Klas Jonas Alfred Kronander

Humans demonstrate an impressive capability to manipulate fragile objects without damaging them, graciously controlling the force and position of hands or tools. Traditionally, robotics has favored position control over force control to produce fast, accur ...

EPFL2015

Robogami: A Fully Integrated Low-Profile Robotic Origami

Jamie Paik, Amir Firouzeh

Intelligent robotic systems that can react to unprogrammed tasks and unforeseen environmental changes require augmented "softness." Robogami, a low-profile origami robot, addresses intrinsic (material-wise) and extrinsic (mechanism-wise) softness with its ...

2015

The CoWriter Project: Teaching a Robot how to Write

Pierre Dillenbourg, Séverin Lemaignan

2015

Soft piezoresistive sensor model and characterization with varying design parameters

Jamie Paik, Amir Firouzeh

Recent robots target safety, reconfigurability and interactivity by addressing the “softness” of the hardware either by endowing additional degrees-of-freedom or through inherent compliancy. These robots require distributed sensing with flexibility and sof ...

2015

A Distributed Noise-Resistant Particle Swarm Optimization Algorithm for High-Dimensional Multi-Robot Learning

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

Population-based learning techniques have been proven to be effective in dealing with noise in numerical benchmark functions and are thus promising tools for the high-dimensional optimization of controllers for multiple robots with limited sensing capabili ...

2015

Formalization, Implementation, and Modeling of Institutional Controllers for Distributed Robotic Systems

Alcherio Martinoli, José Nuno Ferreira Maia Pereira

The work described is part of a long term program of introducing institutional robotics, a novel framework for the coordination of robot teams that stems from institutional economics concepts. Under the framework, institutions are cumulative sets of persis ...

2014

Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

Auke Ijspeert, Alexander Spröwitz, Mahdi Khoramshahi, Alexandre Tuleu

We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot run- ning in bound gait. Active spine supported actuation led to faster locomotion, with less foot sliding on the ground, and a higher stability to go straig ...

2013

On the stability of traffic perimeter control in two-region urban cities

Nikolaos Geroliminis, Jack Haddad

In this paper, stability analysis of traffic control for two-region urban cities is treated. It is known in control theory that optimality does not imply stability. If the optimal control is applied in a heavily congested system with high demand, traffic c ...

Elsevier2012