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

Publications associées (34)

Design of robotic physical intelligence

Bridging the performance gap between robotics and biological systems demands significant advancements across multiple domains, including mechanical design, control theory, modeling, and artificial intelligence. In this thesis, I will introduce innovative m ...

EPFL2025

A Stochastic Approach to Contact-rich Manipulation

Julius Maximilian Jankowski

For robots to operate in unstructured environments, they are required to interact with objects through contact. Those contacts may be used to push objects to the side, deform objects, or manipulate objects in-hand. This thesis addresses the problem of cont ...

EPFL2025

Modeling, Optimal Design, and Control of Linear Induction Motors for Medium-to-High-Speed Ground Transportation Systems

Simone Rametti

To meet the Paris Agreement target of limiting global warming to 1.5°C, the International Energy Agency stresses the urgent need for rapid and transformative actions in all sectors. In 2022, transportation accounted for about 25% of global CO2 emissions, m ...

EPFL2025

A machine learning architecture for including wave breaking in envelope-type wave models

Debbie Eeltink

Wave breaking is a complex physical process about which open questions remain. For some applications, it is critical to include breaking effects in phase-resolved envelope-based wave models such as the non-linear Schr & ouml;dinger. A promising approach is ...

Pergamon-Elsevier Science Ltd2024

Parity in bacterial communities and resistomes: Microplastic and natural organic particles in the Tyrrhenian Sea

Florian Frédéric Vincent Breider, Sylvain Coudret

Petroleum-based microplastic particles (MPs) are carriers of antimicrobial resistance genes (ARGs) in aquatic environments, influencing the selection and spread of antimicrobial resistance. This research characterized MP and natural organic particle (NOP) ...

2024

Match Normalization: Learning-Based Point Cloud Registration for 6D Object Pose Estimation in the Real World

Mathieu Salzmann, Zheng Dang

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches have shown remarkable success on synthetic datasets, we have observed them to fail in the presence of real-world data. We ...

Ieee Computer Soc2024

Soft robotics for farm to fork: applications in agriculture & farming

Josephine Anna Eleanor Hughes, Kai Christian Junge

Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a pl ...

Iop Publishing Ltd2024

Wave-momentum shaping for moving objects in heterogeneous and dynamic media

Romain Christophe Rémy Fleury, Bakhtiyar Orazbayev, Matthieu Francis Malléjac

Light and sound waves can move objects through the transfer of linear or angular momentum, which has led to the development of optical and acoustic tweezers, with applications ranging from biomedical engineering to quantum optics. Although impressive manip ...

2024

High energy-density electrostatic actuators for soft robotics

Sylvain Thomas Schaller

This thesis reports high energy-density electrostatic actuators for use in soft robotics. This thesis has two main parts: a) a detailed study of electro-adhesion using microfabricated electrodes, and b) a flexi-ble fiber-shaped linear motor. Electro-adhesi ...

EPFL2024

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

Josephine Anna Eleanor Hughes

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 ...

Mary Ann Liebert, Inc2024

Adsorption of Copper by Naturally and Artificially Aged Polystyrene Microplastics and Subsequent Release in Simulated Gastrointestinal Fluid

Florian Frédéric Vincent Breider, Thibault Béranger Masset, Lu Zhou

Microplastics, especially aged microplastics can become vectors of metals from environment to organisms with potential negative effects on food chain. However, a few studies focused on the bioavailability of adsorbed metals and most studies related to aged ...

2024

Towards General-Purpose Decentralized Computing with Permissionless Extensibility

Enis Ceyhun Alp

Smart contracts have emerged as the most promising foundations for applications of the blockchain technology. Even though smart contracts are expected to serve as the backbone of the next-generation web, they have several limitations that hinder their wide ...

EPFL2024

Mean flow modeling in high-order nonlinear Schrodinger equations

Debbie Eeltink

The evaluation and consideration of the mean flow in wave evolution equations are necessary for the accurate prediction of fluid particle trajectories under wave groups, with relevant implications in several domains, from the transport of pollutants in the ...

2023

Stochastic particle transport by deep-water irregular breaking waves

Debbie Eeltink

Correct prediction of particle transport by surface waves is crucial in many practical applications such as search and rescue or salvage operations and pollution tracking and clean-up efforts. Recent results by Deike et al. (J. Fluid Mech., vol. 829, 2017, ...

Cambridge University Press2023

Large-scale detection of marine debris in coastal areas with Sentinel-2

Sushen Jilla Venkatesa, Devis Tuia, Marc Conrad Russwurm

Detecting and quantifying marine pollution and macroplastics is an increasingly pressing ecological issue that directly impacts ecology and human health. Here, remote sensing can provide reliable estimates of plastic pollution by regularly monitoring and d ...

Cell Press2023

Improved marine debris detection in satellite imagery with automatic refinement of coarse hand annotations

Elif Dilge Gül, Devis Tuia, Marc Conrad Russwurm

Plastic litter is a major environmental hazard that endangers human, animal, and plant health on the planet. A substantial portion of plastic pollutants is washed from rivers and beaches into the oceans and aggregates at the surface as marine debris before ...

2023

Temporal Prediction of Landslide-Generated Waves Using a Theoretical-Statistical Combined Method

Christophe Ancey, Zhenzhu Meng

For the prediction of landslide-generated waves, previous studies have developed numerous empirical equations to express the maximums of wave characteristics as functions of slide parameters upon impact. In this study, we built the temporal relationship be ...

MDPI2023

The neuromechanics of animal locomotion: From biology to robotics and back

Auke Ijspeert, Pavan P Ramdya

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

AMER ASSOC ADVANCEMENT SCIENCE2023

Dissipative Solitons and Switching Waves in Dispersion-Modulated Kerr Cavities

Tobias Kippenberg, Rui Ning Wang, Johann Emmeram Riemensberger, Miles Henry Anderson, Alexey Tikan, Aleksandr Tusnin, Alisa Davydova

We theoretically and experimentally investigate the formation of dissipative coherent structures in Kerr nonlinear optical microresonators, whose spectrum encompasses an integrated dispersion that exceeds the cavity free-spectral range. We are able to acce ...

American Physical Society2023

Electroadhesive gripping system and method for gripping an object

Herbert Shea, Vito Cacucciolo, Krishna Manaswi Digumarti

An electroadhesive gripping system and a method for gripping and manipulating an object are disclosed. The invention provides a novel approach particularly useful to pick fabrics or otherwise flat and flexible objects including a method relying on electroa ...

2023