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

Related publications (15)

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

Josephine Anna Eleanor Hughes, Guanran Pei

Due to the complexity of deformations in soft manipulators, achieving precise control of their orientation is particularly challenging, especially in the presence of external disturbances and human interactions. Inspired by the decentralized growth mechani ...

IOP Publishing Ltd2025

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

On speeding-up modifier-adaptation schemes for real-time optimization

Dominique Bonvin

The real-time optimization scheme “modifier adaptation” (MA) has been developed to enforce steady-state plant optimality in the presence of model uncertainty. The key feature of MA is its ability to locally modify the model by adding bias and gradient corr ...

2024

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

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

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

Compliance, locomotion and local computation in (self-) reconfigurable modular robots

Simon Lukas Hauser

Animals display an enormous versatility and a remarkable ability to adapt to changes in environment and terrain. Research in bio-inspired robotics strives to transfer these skills to robots, including legged systems. Even though animals seemingly effortles ...

EPFL2019

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

Generalized maximum entropy estimation

John Lygeros, Peyman Mohajerin Esfahani, Tobias Sutter

We consider the problem of estimating a probability distribution that maximizes the entropy while satisfying a finite number of moment constraints, possibly corrupted by noise. Based on duality of convex programming, we present a novel approximation scheme ...

2019

Robotic Fiber Positioning Systems for Massive Spectroscopic Surveys: Mechanical Design Guidelines and Technological Opportunities

Philipp Hörler

The technology of fiber positioning robots has been evolving in the recent years and currently lacks of a comprehensive view. This thesis aims at filling this gap. Fiber positioning robots are analyzed under different aspects: a theoretical framework, desi ...

EPFL2018

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

Adaptive Morphology for Multi-Modal Locomotion

Ludovic Daler

There is a growing interest in using robots in dangerous environments, such as for exploration, search-and-rescue or monitoring applications, in order to reduce the risks for workers or rescuers and to improve their efficiency. Typically, flying robots off ...

EPFL2015

On the Use of Second-Order Modifiers for Real-Time Optimization

Dominique Bonvin, Timm Faulwasser

We consider the real-time optimization of static plants and propose a generalized version of the modifier-adaptation strategy that relies on second-order adaptation of the cost and constraint functions. We show that second-order adaptation allows checking ...

2014

Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots

Auke Ijspeert, Massimo Vespignani, Rico Möckel, Stéphane Bonardi

Manipulation and transport of objects using mobile robotic platforms is a well studied field with several successful approaches. The main difficulty while using such platforms is the lack of adaptation capabilities to changes in the environment and the res ...

2013