Optical test procedure for characterization and calibration of robotic fiber positioners for multiobject spectrographs

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Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

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 ...

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 ...

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 ...

The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...

Environmental monitoring and mapping operations are an essential tool to combat climate change. An important branch of this domain concerns the construction of reliable gas maps. Adaptive navigation strategies coupled with multi-robot systems improve the o ...

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 ...

When developing or designing biomimetic robotic fingers with rigid and soft components and integrated sensors, fabrication is often a bottle-neck when assembling and casting processing techniques are used. This study introduces a thermoplastic multi-materi ...

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

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' ...

Owing to the remarkable properties of the somatosensory system, human skin compactly perceives myriad forms of physical stimuli with high precision. Machines, conversely, are often equipped with sensory suites constituted of dozens of unique sensors, each ...

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 ...

Soft robots aim to revolutionize how robotic systems interact with the environment thanks to their inherent compliance. Some of these systems are even able to modulate their physical softness. However, simply equipping a robot with softness will not genera ...

Optical test procedure for characterization and calibration of robotic fiber positioners for multiobject spectrographs

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Learning and optimization of anticipatory feedback controllers for robot manipulation

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