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Dario Floreano

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Publications associées (291)

Bio-Inspired Tensegrity Fish Robot

Dario Floreano, Jun Shintake, Timothée John Martin Peter, Davide Zappetti, Yusuke Ikemoto

This paper presents a method to create fish-like robots with tensegrity systems and describes a prototype modeled on the body shape of the rainbow trout with a length of 400 mm and a mass of 102 g that is driven by a waterproof servomotor. The structure of ...

IEEE2020

Soft haptic device to render the sensation of flying like a drone

Dario Floreano, Carine Rognon

Haptic feedback located on the torso is proposed to enhance the state awareness of a user in virtual reality or during teleoperation while leaving the hands free for manipulation and communication. We provide haptic feedback on the torso by compressing a s ...

2019

The influence of limited visual sensing on the Reynolds ﬂocking algorithm

Dario Floreano, Enrica Soria, Fabrizio Schiano

The interest in multi-drone systems flourished in the last decade and their application is promising in many fields. We believe that in order to make drone swarms flying smoothly and reliably in real-world scenarios we need a first intermediate step which ...

2019

Personalized Telerobotics by Fast Machine Learning of Body-Machine Interfaces

Dario Floreano, Matteo Macchini, Fabrizio Schiano

Human-Robot Interfaces (HRIs) can be hard to master for inexperienced users, making the teleoperation of mobile robots a difficult task. The development of Body-Machine Interfaces (BoMIs) represents a promising approach to making a user more proficient, by ...

2019

Teleoperation with a wearable sensor system

Dario Floreano, David Atienza Alonso, Jenifer Cléa Miehlbradt, Alexandre Thierry Cherpillod, Fabio Isidoro Tiberio Dell'Agnola, Silvestro Micera, Martina Coscia, Stefano Mintchev, Fiorenzo Artoni

A method for remotely controlling an operated unmanned object, comprises defining of a set of control movements of an operator; selecting of minimal necessary signals to reliably acquire the operator's control movements; defining of a mapping of the contro ...

2019

The current state and future outlook of rescue robotics

Dario Floreano, Roland Siegwart, Auke Ijspeert, Davide Scaramuzza, Stefano Mintchev, Tomislav Horvat, Kamilo Andres Melo Becerra, Marco Hutter

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

2019

The role of optic flow pooling in insect flight control in cluttered environments

Dario Floreano, Julien Jean Denis Nicolas Lecoeur, Emily Baird

Flight through cluttered environments, such as forests, poses great challenges for animals and machines alike because even small changes in flight path may lead to collisions with nearby obstacles. When flying along narrow corridors, insects use the magnit ...

Nature Research2019

STEERABLE CATHETER WITH PORTIONS OF DIFFERENT STIFFNESS

Dario Floreano, Alice Tonazzini

A steerable catheter (10) comprises portions (100, 105) of different stiffness, having a proximal end (11), a distal end, a lumen extending there between, at least one magnet (20) at the proximal end (11), at least a magnetic field to influence the proxima ...

2019

A Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery

Dario Floreano, Alice Tonazzini

One of the challenges of minimally invasive surgery is the dexterous manipulation and precise control of small diameter continuum surgical instruments. In this paper, a magnetic continuum device with variable stiffness (VS) is presented, whose tip can be p ...

2019

Learning Vision-based Flight in Drone Swarms by Imitation

Dario Floreano, Julien Jean Denis Nicolas Lecoeur, Fabian Maximilian Schilling, Fabrizio Schiano

Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms based on imitation l ...

2019

Embodied Flight with a Drone

Dario Floreano, Alexandre Thierry Cherpillod, Stefano Mintchev

Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots’ state and its environment. Embodied interactions, that is the bidirectional link between t ...

2019

Cross-Packet Coding for Delay-Constrained Streaming Applications

Dario Floreano, Giuseppe Cocco

Delay-constrained streaming from a moving platform is of paramount importance for applications such as the remote control of drones, where a low-delay video stream is required in order to provide visual feedback to the pilot while providing high quality vi ...

2019

Inquiry-Based Learning with RoboGen: An Open-Source Software and Hardware Platform for Robotics and Artificial Intelligence

Dario Floreano, Alice Ghislaine Concordel, Przemyslaw Mariusz Kornatowski, Joshua Evan Auerbach

It has often been found that students appreciate hands-on work, and find that they learn more with courses that include a project than those relying solely on conventional lectures and tests. This type of project driven learning is a key component of “Inqu ...

2019

Haptic feedback perception and learning with cable-driven guidance in exosuit teleoperation of a simulated drone

Dario Floreano, Auke Ijspeert, Carine Rognon, Amy Roning Wu, Vivek Ramachandran

Robotics teleoperation enables human operators to control the movements of distally located robots. The development of new wearable interfaces as alternatives to hand-held controllers has created new modalities of control, which are more intuitive to use. ...

2019

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

Dario Floreano, Davide Scaramuzza, Stefano Mintchev

The recent advances in state estimation, perception, and navigation algorithms have significantly contributed to the ubiquitous use of quadrotors for inspection, mapping, and aerial imaging. To further increase the versatility of quadrotors, recent works i ...

2019

Perception of a Wearable Haptic Feedback Device to Render the Sensation of Flight

Dario Floreano, Carine Rognon

The FlyJacket is a wearable jacket designed to allow a user to intuitively control a fixed-wing drone by moving their torso. We embedded haptic feedback into the jacket using closed inflated air pouches compressed by motors to provide haptic feedback on th ...

IEEE2019

Stretchable pumps for soft machines

Dario Floreano, Herbert Shea, Jun Shintake, Vito Cacucciolo, Yu Kuwajima

Machines made of soft materials bridge life sciences and engineering. Advances in soft materials have led to skin-like sensors and muscle-like actuators for soft robots and wearable devices. Flexible or stretchable counterparts of most key mechatronic comp ...

2019

Last-Centimeter Personal Drone Delivery: Field Deployment and User Interaction

Dario Floreano, Przemyslaw Mariusz Kornatowski, Stefano Mintchev

Drones are rapidly becoming an affordable and often faster solution for parcel delivery than terrestrial vehicles. Existing transportation drones and software infrastructures are mostly designed by logistics companies for trained users and dedicated infras ...

2018

Variable stiffness strip with strain sensing for wearable robotics

Dario Floreano, Carine Rognon, Jun Shintake, Stefano Mintchev, Alice Tonazzini, Vivek Ramachandran

Variable stiffness technologies help to solve the conflicting requirements of strength, comfort, and safety in soft exoskeletons. Here, we propose a modular variable stiffness strip based on layer jamming as a mechanical solution to constrain users' degree ...

2018

FlyJacket: An Upper Body Soft Exoskeleton for Immersive Drone Control

Dario Floreano, David Atienza Alonso, Carine Rognon, Alexandre Thierry Cherpillod, Fabio Isidoro Tiberio Dell'Agnola, Stefano Mintchev

Most human–drone interfaces, such as joysticks and remote controllers, require attention and developed skills during teleoperation. Wearable interfaces could enable a more natural and intuitive control of drones, which would make this technology accessible ...

2018

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