Publications associées à Monolithic piezoelectric actuators for miniature robotic systems

Publications associées (28)

Simple, highly stable transfer cavity for laser stabilization based on a carbon-fiber reinforced polymer spacer

Zeyang Xue, Jean-Philippe Brantut, Timo Zwettler, Aurélien Hadrien Fabre, Gaia Stella Bolognini

We describe the design and operation of a high-stability Fabry-Pérot cavity, for laser stabilization in cavity quantum-electrodynamics experiments. Our design is based on an inexpensive and readily available uniaxial carbon-fiber reinforced polymer tube sp ...

2025

Wafer-Level Microfabrication of Zipping Electrohydraulic Actuators for Soft Milli-Robots

Herbert Shea, Florian Fernand Hartmann, Shai-Shmuel Shmulevich

Miniaturizing soft robots is often limited by scaling down actuators while keeping high energy density and good response time. In this work we demonstrate the wafer-level microfabrication of electrostatic zipping soft actuators, similar to peano-HASELs. Th ...

IEEE2025

A data-efficient and general-purpose hand–eye calibration method for robotic systems using next best view

Sichao Liu

Calibration between robots and cameras is critical in automated robot vision systems. However, conventional manually conducted image-based calibration techniques are often limited by their accuracy sensitivity and poor adaptability to dynamic or unstructur ...

2025

Rearranging Deformable Linear Objects for Implicit Goals with Self-Supervised Planning and Control

Luyin Hu

The robotic manipulation of deformable linear objects is a frontier problem with many potential applications in diverse industries. However, most existing research in this area focuses on shape control for a provided explicit goal and does not consider phy ...

2024

Introducing Productive Engagement for Social Robots Supporting Learning

Jauwairia Nasir

We have all been one such student or seen such students who can maintain the 'good student' image while playing a video game under the table or those loyal backbenchers, seemingly always distracted, who then ace their exams. These intricacies of human beha ...

EPFL2022

Hybrid Wireless-Local Communication via Information Propagation for Modular Robotic Synchronization Applications

Jamie Paik, Christoph Heinrich Belke, Kevin Andrew Holdcroft

Modular robots hold promise of adaptability, robustness, and versatility. Synchronization of modules is critical; if a module is asynchronous, not only will the robot fail to perform tasks properly, but its behavior may be self-destructive through self-col ...

WILEY2022

Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation

Farshad Khadivar

As technology continues to evolve, robots are becoming an intrinsic part of our lives. While robots surpass human capabilities in precision and speed, they are far from matching humans' ability to adapt to unexpected changes. Humans can quickly and complia ...

EPFL2022

On-Board Mechanical Control Systems for Untethered Microrobots

Mahmut Selman Sakar, Murat Kaynak, Amit Yedidia Dolev

2021

A robust localization system for multi-robot formations based on an extension of a Gaussian mixture probability hypothesis density filter

Alcherio Martinoli, Alicja Barbara Roelofsen

This paper presents a strategy for providing reliable state estimates that allow a group of robots to realize a formation even when communication fails and the tracking data alone is insufficient for maintaining a stable formation. Furthermore, the trackin ...

2020

Wearable Soft Technologies for Haptic Sensing and Feedback

Herbert Shea, Ronan Julien Hinchet

Virtual reality (VR) and augmented reality (AR) systems have garnered recent widespread attention due to increased accessibility, functionality, and affordability. These systems sense user inputs and typically provide haptic, audio, and visual feedback to ...

WILEY-V C H VERLAG GMBH2020

Precision control of miniature SCARA robots for multi-object spectrographs

Jean-Paul Richard Kneib, Mohamed Bouri, Luzius Gregor Kronig, Ricardo Jorge Araùjo Pereira, Loïc Grossen, Stefane Costa Caseiro

Advances in astronomy led to the demand for measuring the spectra of multiple night sky objects simultaneously. Some of these Multi-Object Spectrographs use robotic systems that position optical fibers in the focal plane of the observing telescope. These s ...

2020

Flow driven robotic navigation of microengineered endovascular probes

Nikolaos Stergiopoulos, Diego Ghezzi, Mahmut Selman Sakar, Augusto Martins Lima, Lucio Feo Pancaldi-Giubbini, Adele Fanelli, Pietro Luciano Jakobus Dirix

Minimally invasive medical procedures, such as endovascular catheterization, have considerably reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain inaccessible due to th ...

Nature Research2020

Designing Minimal and Scalable Insect-Inspired Multi-Locomotion Millirobots

Jamie Paik, Zhenishbek Zhakypov

In ant colonies, collectivity enables division of labour and resources with great scalability. Beyond their intricate social behaviours, individuals of the genus Odontomachus, also known as trap-jaw ants, have developed remarkable multi-locomotion mechanis ...

2019

The current state and future outlook of rescue robotics

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

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

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers

Jamie Paik, Marco Salerno, Sébastien Douglas de Rivaz

Soft pneumatic actuators promise simple, adaptable, and safe manipulation, but the nature of pneumatic circuits limits the scalability of this approach. This paper introduces a method to augment the degrees-of-freedom of soft pneumatic actuators without in ...

2019

Evaluation of an Industrial Robotic Assistant in an Ecological Environment

Leonardo Urbano, Baptiste Busch, Aude Billard, Mahdi Khoramshahi

Social robotic assistants have been widely studied and deployed as telepresence tools or caregivers. Evaluating their design and impact on the people interacting with them is of prime importance. In this research, we evaluate the usability and impact of AR ...

2019

Design Methodology for Engineering Multifunctional Mesoscale Robots

Zhenishbek Zhakypov

In this thesis our research goal is to develop, study and demonstrate multifunctional multi-robot systems in mesoscale. Particularly, our goal is to study and demonstrate terrestrial multi-locomotion and collective behaviours with mesoscale robots, similar ...

EPFL2019

Design Methodology for Constructing Multimaterial Origami Robots and Machines

Jamie Paik, Zhenishbek Zhakypov

Robotic origami allows rapid prototyping of intelligent robots and machines constructed from thin sheets of functional materials. Multimaterial-based design freedom of origami robots creates functional versatility; however, the design parameters pose chall ...

2018

Do Children Perceive Whether a Robotic Peer is Learning or Not?

Pierre Dillenbourg, Hang Yin, Shruti Chandra

Social robots are being used to create better educational scenarios, thereby fostering children's learning. In the work presented here, we describe an autonomous social robot that was designed to enhance children's handwriting skills. Exploiting the benefi ...

ASSOC COMPUTING MACHINERY2018