Publications de Nana Obayashi | EPFL Graph Search

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The morphology and structure play a crucial role in shaping the behavior and functionality of both biological and robotic systems. In this work, we are inspired by morphogenesis, a fundamental biological process that encompasses the emergence of organs and ...

Biology provides many examples of where body adaption can be used to achieve a change in functionality. The feather star, an underwater crinoid which uses feather arms to locomote and feed, is one such system; it releases its arms to distract prey and vary ...

To develop engineered systems with enhanced functionality, improving their design is essential. Robots and humans each have specialized competence advantageous to design. Robots excel in terms of fabrication reliability and observation of trends in data wh ...

The viscoelasticity of many soft polymers renders flexible sensors susceptible to hysteresis and signal drift that limit their accuracy. To reduce the impact of viscoelasticity on the signal without compromising the softness of the material, we introduce e ...

Animals leverage their full embodiment to achieve multimodal, redundant, and subtle communication. To achieve the same for robots, they must similarly exploit their brain-body-environment interactions or their embodied intelligence. To advance this approac ...

Fluent human-robot interactions are essential for robots to be accepted and used in social scenarios including education, healthcare, or entertainment. Foundation models and Large Language Models (LLMs) in particular facilitate natural generation of text i ...

Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example when creating bi ...

The study of non-contact manipulation in water, and the ability to robotically control floating objects has gained recent attention due to wide-ranging potential applications, including the analysis of plastic pollution in the oceans and the optimization o ...

A shift toward a democratized, bimodal model of research would allow soft robotics to realize its full potential. ...

Non-contact, fluid-mediated manipulation of objects using underactuated soft robots or structures presents unique control challenges, demanding a nuanced understanding of fluid dynamics and innovative control methods. In this study, we investigate methods ...

Nana Obayashi

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Environmentally-Driven Morphogenesis of Reconfigurable Floating Structures using Markov Models

Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation

Exploration of Human-Robot Collaboration Methods for Iterative Design Optimization of Paper Airplanes

Mechanoreceptive soft robotic molluscoids made of granular hydrogel-based organoelectronics

Embodied intelligence paradigm for human-robot communication

Improving the Fluency of Robot-Human Interaction Through Embodied Expression of Emotion via Foundation Models

Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

A democratized bimodal model of research for soft robotics: Integrating slow and fast science

Non-Contact Manipulation of Objects in Fluid with Soft Robots Through Behavioral Primitives and Finite State Machine

Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization

Soft Passive Swimmer Optimization: From Simulation to Reality Using Data-Driven Transformation