Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

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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 ...

Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...

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Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

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 ...

Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects ...

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

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 ...

Understanding how biological matter takes its shape is instrumental to biology, bioengineering, medicine, and bioinspired engineering. Gaining information on the principles of morphogenesis could enable clinicians to correct developmental abnormalities, ev ...

The following data contain the information and files, which are required to recreate and build the experimental setup that is described in the Laboratory manual. Further details can be found in the associated publication “A graduate laboratory experiment t ...

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

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Quantifying the biomimicry gap in biohybrid robot-fish pairs

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals

Training Efficient Controllers via Analytic Policy Gradient

Morphological flexibility in robotic systems through physical polygon meshing

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

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

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

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Self-Correcting Quadratic Programming-Based Robot Control

Development of a Robotic Microsurgeon for Embryonic Research

Acoustic Levitation apparatus (Robotics Practicals)