Computational Robot Design & Fabrication Lab

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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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Computational Robot Design & Fabrication Lab

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

3D printed large amplitude torsional microactuators powered by ultrasound

Permanently magnetized elastomer rotating actuator using traveling waves

Small-scale robotic devices for medical interventions in the brain

Towards edible robots and robotic food

Additively manufactured stretchable zipping electrostatic actuators

Self-Correcting Quadratic Programming-Based Robot Control

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

Morphological flexibility in robotic systems through physical polygon meshing

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

Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness