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Robotique collective et auto-assemblage : une étude mécatronique

Related publications (31)

Permanently magnetized elastomer rotating actuator using traveling waves

We report a soft actuator that generates continuous rotation of an object placed on it by electromagnetically exciting circular travelling waves in a soft disk. The disk, that serves as the stator, is made of a stretchable composite consisting of segments ...

Iop Publishing Ltd2024

Carbon based printed electrodes for DEAs: study of pad, inkjet, and stencil printing

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Stefania Maria Aliki Konstantinidi, Armando Matthieu Walter, Simon Holzer

Dielectric elastomer actuators (DEAs) have raised interest due to their remarkable capabilities in various applications, such as soft robotics, haptic feedback systems, and biomedical devices. To harness the full potential of DEAs, the choice of the electr ...

Society of Photo-Optical Instrumentation Engineers (SPIE)2024

3D printed large amplitude torsional microactuators powered by ultrasound

Mehdi Ali Gadiri, Mahmut Selman Sakar, Amit Yedidia Dolev, Junsun Hwang

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 ...

2024

Towards edible robots and robotic food

Dario Floreano, Jun Shintake, Bokeon Kwak, Markéta Pankhurst

Edible robots and robotic food — edible systems that perceive, process and act upon stimulation — could open a new range of opportunities in health care, environmental management and the promotion of healthier eating habits. For example, they could enable ...

2024

Additively manufactured stretchable zipping electrostatic actuators

Giulio Grasso

The use of soft and stretchable materials allows the development of adaptive robotic systems and human-machine interfaces that are more natural and comfortable to interact with. One of the application fields that benefits the most from these compliant mate ...

EPFL2024

Filiform Variable Stiffness Technologies for Medical Robotics

Yegor Piskarev

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 ...

EPFL2024

An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks

Sylvain Calinon, Jie Zhao

Humans use tools to complete impact-aware tasks, such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding a tool plays a ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Multiplicity-free Representations of Algebraic Groups

Donna Testerman, Martin W. Liebeck

Let K be an algebraically closed field of characteristic zero, and let G be a connected reductive algebraic group over K. We address the problem of classifying triples (G, H, V ), where H is a proper connected subgroup of G, and V is a finitedimensional ir ...

Amer Mathematical Soc2024

Controlled Formation of Nanoribbons and Their Heterostructures via Assembly of Mass-Selected Inorganic Ions

Klaus Kern

Control of nanomaterial dimensions with atomic precision through synthetic methods is essential to understanding and engineering of nanomaterials. For single-layer inorganic materials, size and shape controls have been achieved by self-assembly and surface ...

Wiley-V C H Verlag Gmbh2024

A Spectral Ansatz for The Long-Time Homogenization of The Wave Equation

Matthias Ruf, Matthias Benjamin Ruf

Consider the wave equation with heterogeneous coefficients in the homogenization regime. At large times, the wave interacts in a nontrivial way with the heterogeneities, giving rise to effective dispersive effects. The main achievement of the present wor ...

Ecole Polytechnique2024

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Aude Billard, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Sage Publications Ltd2024