Publications related to Plant-inspired decentralized controller for robust orientation control of soft robotic manipulators

Related publications (10)

Environmentally-Driven Morphogenesis of Reconfigurable Floating Structures using Markov Models

Josephine Anna Eleanor Hughes, Kai Christian Junge, Nana Obayashi, Germain Philippe Marie Meyer

The morphology and structure play a crucial role in shaping the behavior and functionality of both biological and robotic systems. In this work, we are inspired by morphogenesis, a fundamental biological process that encompasses the emergence of organs and ...

IEEE2025

End-to-End Planner for Self-Reconfigurable Modular Robots Collaborative Objects Manipulation, Transport and Handover to Human Application

Auke Ijspeert, Anastasia Bolotnikova, Yi Zhou Ju, Aurélien Arthur Enzo Morel

Collaborative object manipulation and transport with self-reconfigurable modular robots can take a major role in improving modularity and adaptability of smart-home and factory-like environments. Controlling modules to achieve efficient behaviours is chall ...

IEEE2023

Neural signatures of visuo-motor integration during human-robot interactions

Olaf Blanke, Hannes Bleuler, Giulio Rognini, Fosco Bernasconi, Silvia Marchesotti

Visuo-motor integration shapes our daily experience and underpins the sense of feeling in control over our actions. The last decade has seen a surge in robotically and virtually mediated interactions, whereby bodily actions ultimately result in an artifici ...

FRONTIERS MEDIA SA2023

Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype

Colin Neil Jones, Petr Listov, Roland Schwan

Recent advances in Model Predictive Control (MPC) algorithms and methodologies, combined with the surge of computational power of available embedded platforms, allows the use of real-time optimization-based control of fast mechatronic systems. This paper p ...

IEEE2022

Probabilistic Iterative LQR for Short Time Horizon MPC

Sylvain Calinon, Teguh Santoso Lembono

Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on finding a single optimal trajectory, which is then typically tracked by another ...

IEEE2021

Lighter and Stronger: Cofabricated Electrodes and Variable Stiffness Elements in Dielectric Actuators

Dario Floreano, Jun Shintake, Yegor Piskarev, Vivek Ramachandran

The inherent compliance of soft robots often makes it difficult for them to exert forces on surrounding surfaces or withstand mechanical loading. Controlled stiffness is a solution to empower soft robots with the ability to apply large forces on their envi ...

2020

Bipedal walking and push recovery with a stepping strategy based on time-projection control

Auke Ijspeert, Salman Faraji, Seyed Hamed Razavi

In this paper, we present a simple control framework for online push recovery on biped robots with dynamic stepping properties. Owing to relatively heavy legs in our humanoid robot COMAN, we use a linear model called 3LP, which is composed of three pendulu ...

SAGE PUBLICATIONS LTD2019

A portable three-degrees-of-freedom force feedback origami robot for human-robot interactions

Jamie Paik, Stefano Mintchev, Marco Salerno, Alexandre Thierry Cherpillod, Simone Scaduto

Haptic interfaces can recreate the experience of touch and are necessary to improve human-robot interactions. However, at present, haptic interfaces are either electromechanical devices eliciting very limited touch sensations or devices that may provide mo ...

SPRINGERNATURE2019

Cellulo: Versatile Handheld Robots for Education

Pierre Dillenbourg, Francesco Mondada, Wafa Monia Benkaouar Johal, Séverin Lemaignan, Ayberk Özgür

In this article, we present Cellulo, a novel robotic platform that investigates the intersection of three ideas for robotics in education: designing the robots to be versatile and generic tools; blending robots into the classroom by designing them to be pe ...

ACM2017

From Real-time Attention Assessment to “With-me-ness” in Human-Robot Interaction

Pierre Dillenbourg, Séverin Lemaignan, Alexis David Jacq

Measuring ``how much the human is in the interaction'' -- the level of engagement -- is instrumental in building effective interactive robots. Engagement, however, is a complex, multi-faceted cognitive mechanism that is only indirectly observable. This art ...

Ieee2016