Publications related to Environmentally-Driven Morphogenesis of Reconfigurable Floating Structures using Markov Models

Related publications (11)

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

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

Time vs. Truth: Age-Distortion Tradeoffs and Strategies for Distributed Inference

Yunus Inan

In 1948, Claude Shannon laid the foundations of information theory, which grew out of a study to find the ultimate limits of source compression, and of reliable communication. Since then, information theory has proved itself not only as a quest to find the ...

EPFL2023

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

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

Modeling and simulation in tribology across scales: An overview

Jean-François Molinari, Guillaume Anciaux, Ramin Aghababaei, Vladislav Yastrebov, Gianluca Costagliola

2018

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

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