Magnetic wheels optimization and application to the MagneBike climbing robot

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Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

This article summarizes the recent advancements in the design, fabrication, and control of microrobotic devices for the diagnosis and treatment of brain disorders. With a focus on diverse actuation methods, we discuss how advancements in materials science ...

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 ...

The deployment of robots for Gas Source Lo- calization (GSL) tasks in hazardous scenarios significantly reduces the risk to humans and animals. Gas sensing using mobile robots focuses primarily on simplified scenarios, due to the complexity of gas dispersi ...

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 ...

Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example when creating bi ...

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 ...

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 ...

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 ...

Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators ...

Robot motor skills can be acquired by deep reinforcement learning as neural networks to reflect state-action mapping. The selection of states has been demonstrated to be crucial for successful robot motor learning. However, because of the complexity of neu ...

A vehicle's steering is a particular system in that it is exposed to individual subjective reviews based on criteria that are hard to assess quantitatively. Haptic design of such systems is a prime concern that has been at the center of industrial developm ...

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 ...

Computers have long been augmenting human capabilities and communication, and with emerging technologies, physical immersion in virtual worlds is now attainable. These advancements push the boundaries of human potential, allowing designers, architects, eng ...

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

To bring educational robots to classrooms, we need to consider teachers' self-efficacy and challenges in managing a robot-mediated classroom, and how to support them in overcoming these challenges. Orchestration tools are designed to support teachers by pr ...

Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the ta ...

Magnetic wheels optimization and application to the MagneBike climbing robot

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Online Multicontact Receding Horizon Planning via Value Function Approximation

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Educational Soft Underwater Robot with an Electromagnetic Actuation

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Small-scale robotic devices for medical interventions in the brain

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots

Self-Correcting Quadratic Programming-Based Robot Control

Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming

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

Implicit Distance Functions: Learning and Applications in Robotics

Morphological flexibility in robotic systems through physical polygon meshing

Sensorless force and displacement estimation in soft actuators

Identifying important sensory feedback for learning locomotion skills

Haptics based collaborative steering control in automated driving environments

Acoustic Levitation apparatus (Robotics Practicals)

Human Interactive Robotic Surfaces for Physical Immersion

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Supporting Teachers' Orchestration in Robot-mediated Classrooms

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