Multi-contact tactile exploration and interaction with unknown objects

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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 ...

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches have shown remarkable success on synthetic datasets, we have observed them to fail in the presence of real-world data. We ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

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 ...

Multi-contact tactile exploration and interaction with unknown objects

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Educational Soft Underwater Robot with an Electromagnetic Actuation

Match Normalization: Learning-Based Point Cloud Registration for 6D Object Pose Estimation in the Real World

Permanently magnetized elastomer rotating actuator using traveling waves

Self-Correcting Quadratic Programming-Based Robot Control

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

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

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

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Learning and optimization of anticipatory feedback controllers for robot manipulation

Avian-Inspired Claws Enable Robot Perching or Walking

Reinforcement learning for scaffold-free construction of spanning-structures