Evaluation of Proportional and Discrete Shared Control Paradigms for Low Resolution User Inputs

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Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction

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The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...

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Haptics based collaborative steering control in automated driving environments

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A vehicle's steering is a particular system in that it is exposed to individual subjective reviews based on criteria that are hard to assess quantitatively. Haptic design of such systems is a prime concern that has been at the center of industrial developm ...

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Self-Correcting Quadratic Programming-Based Robot Control

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Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

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Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

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The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

EPFL2023

Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals

José del Rocio Millán Ruiz, Aude Billard, Fumiaki Iwane

During reaching actions, the human central nerve system (CNS) generates the trajectories that optimize effort and time. When there is an obstacle in the path, we make sure that our arm passes the obstacle with a sufficient margin. This comfort margin varie ...

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Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

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Challenges and approaches in bridging the biomimicry gap in biohybrid systems of fish and robots

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As the field of ethology advances, especially over the past two decades, the role of animal-robot interaction tools has increasingly become essential. This importance arises from the need for controlled, repetitive, repeatable, and long-duration experiment ...

EPFL2023

Implicit Distance Functions: Learning and Applications in Robotics

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In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

EPFL2023

Adapting Haptic Feedback for Guided Meditation

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Technology supporting meditation is a multimillion-dollar market that continues to grow. There is also strong academic interest to understand and improve the impact technology can have for the user experience of practitioners. However, little work investig ...

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Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

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There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

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Immediate effects of short-duration wellbeing practices on children’s handwriting and posture guided by a social robot

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Handwriting practising, as any other repetitive task, often leads the practiser to an overconcentration state where their performance might be affected by postural and mental fatigue. Short breaks to perform unrelated activities, especially relaxation exer ...

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Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

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Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...

IEEE2023