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

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The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

Here, we introduce a design, fabrication, and control methodology for large amplitude torsional microactuators powered by ultrasound. The microactuators are 3D printed from two polymers with drastically different elastic moduli as a monolithic compliant me ...

In recent years, soft robotics has surged in applications like wearables, drones, smart fabrics, and medical instruments. Due to their compliance, these devices excel in tasks demanding dexterity and adaptability, such as manipulation, locomotion, crash re ...

Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radi ...

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 ...

During reaching actions, the human central nerve system (CNS) generates the trajectories that optimize effort and time. When there is an obstacle in the path, we make sure that our arm passes the obstacle with a sufficient margin. This comfort margin varie ...

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' ...

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

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 ...

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

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Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Implicit Distance Functions: Learning and Applications in Robotics

3D printed large amplitude torsional microactuators powered by ultrasound

Filiform Variable Stiffness Technologies for Medical Robotics

Near-Zero Parasitic Shift Flexure Pivots Based on Coupled n-RRR Planar Parallel Mechanisms

Morphological flexibility in robotic systems through physical polygon meshing

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

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

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