Experimental investigation of beams under coupled bending and torsion

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This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

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 ...

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 ...

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 ...

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

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 doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

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 ...

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 ...

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

In construction robotics, a conventional design-to-fabrication work-flow starts with designing a structure, followed by task and robotic motion planning, and ultimately, fabrication. However, this approach can prove unsuccessful, as we may only discover th ...

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 ...

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 ...

Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects ...

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 ...

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 ...

Experimental investigation of beams under coupled bending and torsion

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Hitting with Different Joints of a Robotic Manipulator

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

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Small-scale robotic devices for medical interventions in the brain

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Robot Learning using Tensor Networks

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Online Multicontact Receding Horizon Planning via Value Function Approximation

Towards edible robots and robotic food

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Investigating neural resource allocation in the sensorimotor control of extra limbs

Reinforcement learning for scaffold-free construction of spanning-structures

Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction

Learning and optimization of anticipatory feedback controllers for robot manipulation

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

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

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness