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Dario Floreano

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Publications associées (291)

High-Speed Motion Planning for Aerial Swarms in Unknown and Cluttered Environments

Dario Floreano

Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the State-of-the-Art of aerial swarms in navigation speed and robustness is of tremendous benefit. In particular, be ...

Institute of Electrical and Electronics Engineers (IEEE)2024

Co-Design Optimisation of Morphing Topology and Control of Winged Drones

Dario Floreano, Valentin Wüest, Fabio Bergonti

The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient solution. However, m ...

IEEE2024

Crash-perching on vertical poles with a hugging-wing robot

Dario Floreano, Auke Ijspeert, Mohammad Askari, Hoang Vu Phan

Perching with winged Unmanned Aerial Vehicles has often been solved by means of complex control or intricate appendages. Here, we present a method that relies on passive wing morphing for crash-landing on trees and other types of vertical poles. Inspired b ...

Springer Science and Business Media LLC2024

Data-Driven Personalization of Body-Machine Interfaces to Control Diverse Robot Types

Dario Floreano, Matteo Macchini, Fabrizio Schiano

Body-machine interfaces for robotic teleoperation have been shown to improve user experience and performance. However, such interfaces must be tailored for each robot type and may require personalization to accommodate user's preferences. Here, we present ...

Institute of Electrical and Electronics Engineers (IEEE)2024

A Soft Gripper with Granular Jamming and Electroadhesive Properties

Pierre-Etienne Bourban, Dario Floreano, Jun Shintake, Vivek Ramachandran, Yegor Piskarev

In recent years, there has been a growing interest in the development of universal soft grippers that can handle objects of varying form factors (including flat objects), surface conditions (including moistened or oily objects), and mechanical properties ( ...

2023

The evolution of behavioral cues and signaling in displaced communication

Dario Floreano, Laurent Keller

Displaced communication, whereby individuals communicate regarding a subject that is not immediately present (spatially or temporally), is one of the key features of human language. It also occurs in a few animal species, most notably the honeybee, where t ...

2023

Wind Defiant Morphing Drones

Dario Floreano, Victor Casas Rochel, Nathan Samuel Müller, Charalampos Vourtsis, William John Stewart

Intense winds are a challenge for vertical take-off and landing drones with wings. In particular, in the hovering regime, wings are sensitive to wind currents that can be detrimental to their operational and energetic performances. Tail-sitters are particu ...

2023

An Edible Bistable Tilt Sensor Enabling Autonomous Operation of a Partially Eatable Rolling Robot

Dario Floreano, Bokeon Kwak

Edible electronics and robotics are emerging areas intimately bridging food science and engineering to deliver technology using food-derived materials. Edible devices offer unprecedented opportunities thanks to features such as bioresorbability, nutritiona ...

2023

Design and manufacture of edible microfluidic logic gates

Dario Floreano, Shuhang Zhang, Bokeon Kwak

Edible robotics is an emerging research field with potential use in environmental, food, and medical scenarios. In this context, the design of edible control circuits could increase the behavioral complexity of edible robots and reduce their dependence on ...

IEEE2023

A virtuous cycle between invertebrate and robotics research: perspective on a decade of Living Machines research

Dario Floreano, Sabine Hauert

Many invertebrates are ideal model systems on which to base robot design principles due to their success in solving seemingly complex tasks across domains while possessing smaller nervous systems than vertebrates. Three areas are particularly relevant for ...

2023

Training Efficient Controllers via Analytic Policy Gradient

Dario Floreano, Davide Scaramuzza, Valentin Wüest

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

New York2023

A variable stiffness magnetic catheter made of a conductive shape memory polymer for minimally invasive surgery

Dario Floreano, Jun Shintake, Yegor Piskarev

A hollow variable stiffness thread including a flexible inner tube, a conductive shape memory polymer (CSMP) layer arranged around the inner tube forming a variable stiffness zone, a flexible encapsulation layer arranged around the CSMP layer, and a first ...

2023

Avian-Inspired Claws Enable Robot Perching or Walking

Dario Floreano, William John Stewart, Won Dong Shin, Mohammad Askari

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 ...

2023

Unleashing Soft Modular Robots by means of a Bio-inspired Connection Strategy

Dario Floreano, Davide Zappetti, William John Stewart

Untethering can allow soft modular robots to move from the laboratory test bench into realistic environments and commercial use. However, today’s state of the art soft modular robots remain electrically connected to external power sources and controllers. ...

IEEE2022

Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor

Dario Floreano, Herbert Shea, Krishna Manaswi Digumarti, Bekir Aksoy, Euan John Kenneth Judd

Robots using classical control have revolutionised assembly lines where the environment and manipulated objects are restricted and predictable. However, they have proven less effective when the manipulated objects are deformable due to their complex and un ...

2022

Enhancement of Pressure-Sensitive Adhesive by CO2 Laser Treatment

Dario Floreano, Jianhang Yang, Jun Shintake, Vivek Ramachandran, Yegor Piskarev, Michael Dickey

Pressure-sensitive adhesives (PSAs) are polymeric films that can be adhered to and detached from surfaces without leaving residue. Researchers are looking to enhance the bond strength between PSAs and different substrates. It can be achieved by tuning PSA' ...

2022

Machine-Learning Based Monitoring of Cognitive Workload in Rescue Missions with Drones

Dario Floreano, Ricardo Andres Chavarriaga Lozano, David Atienza Alonso, Fabio Isidoro Tiberio Dell'Agnola, Ping-Keng Jao, Adriana Arza Valdes

In search and rescue missions, drone operations are challenging and cognitively demanding. High levels of cognitive workload can affect rescuers’ performance, leading to failure with catastrophic outcomes. To face this problem, we propose a machine learnin ...

2022

A Variable Stiffness Magnetic Catheter Made of a Conductive Phase-Change Polymer for Minimally Invasive Surgery

Dario Floreano, Jun Shintake, Yegor Piskarev

Variable stiffness (VS) is an important feature that significantly enhances the dexterity of magnetic catheters used in minimally invasive surgeries. Existing magnetic catheters with VS consist of sensors, heaters, and tubular structures filled with low me ...

2022

Dual Stiffness Tensegrity Platform for Resilient Robotics

Dario Floreano, Yi Sun, Stefano Mintchev, Davide Zappetti

Collision resilience is an important feature of robots deployed in unstructured and partially unpredictable environments. Herein, a novel dual stiffness (DS) tensegrity platform to integrate collision resilience into a robot body is proposed. The proposed ...

2022

Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Dario Floreano, Nicola Nosengo

Stories from the future of intelligent machines—from rescue drones to robot spouses—and accounts of cutting-edge research that could make it all possible. Tech prognosticators promised us robots—autonomous humanoids that could carry out any number of tasks ...

MIT Press2022

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