Reconfigurable Robotics Lab

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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 ...

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 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 ...

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 ...

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 ...

Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

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 ...

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 ...

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 ...

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 ...

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 ...

Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

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 ...

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 ...

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...

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 ...

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 ...

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 ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

Reconfigurable Robotics Lab

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Memento Mori: Reliable robustness in self-reconfigurable modular robots

Educational Soft Underwater Robot with an Electromagnetic Actuation

Robot Learning using Tensor Networks

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

Investigating neural resource allocation in the sensorimotor control of extra limbs

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

Additively manufactured stretchable zipping electrostatic actuators

Online Multicontact Receding Horizon Planning via Value Function Approximation

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

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

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Hitting with Different Joints of a Robotic Manipulator

Frequency response of fiber reinforced DEAs

Permanently magnetized elastomer rotating actuator using traveling waves

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

Quantifying the biomimicry gap in biohybrid robot-fish pairs

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

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

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering