Design Methodology for Engineering Multifunctional Mesoscale Robots

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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 ...

Animals exhibit remarkable locomotion skills despite significant sensorimotor delays and operating in uncertain environments. Moreover, mammals acquire these skills within minutes of birth. From the Cambrian explosion to the present day, vertebrate motor c ...

Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion environments. In th ...

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 ...

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

Here, we introduce a design, fabrication, and control methodology for large amplitude torsional microactuators powered by ultrasound. The microactuators are 3D printed from two polymers with drastically different elastic moduli as a monolithic compliant me ...

The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient solution. However, m ...

The use of soft and stretchable materials allows the development of adaptive robotic systems and human-machine interfaces that are more natural and comfortable to interact with. One of the application fields that benefits the most from these compliant mate ...

Edible robots and robotic food — edible systems that perceive, process and act upon stimulation — could open a new range of opportunities in health care, environmental management and the promotion of healthier eating habits. For example, they could enable ...

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where collaboration and division of labor enhance survival of the whole colony, and are thus considered “superorganisms”. Historically, studying behaviors involving ...

Design Methodology for Engineering Multifunctional Mesoscale Robots

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

A Bio-Inspired Learning and Control Framework for Cross-Embodiment and Cross-Task Locomotion

Adaptive Negative Damping Control for User-Dependent Multi-Terrain Walking Assistance With a Hip Exoskeleton

Mechanoreceptive soft robotic molluscoids made of granular hydrogel-based organoelectronics

Memento Mori: Reliable robustness in self-reconfigurable modular robots

A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Online Multicontact Receding Horizon Planning via Value Function Approximation

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Educational Soft Underwater Robot with an Electromagnetic Actuation

Robot Learning using Tensor Networks

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Hitting with Different Joints of a Robotic Manipulator

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

3D printed large amplitude torsional microactuators powered by ultrasound

Co-Design Optimisation of Morphing Topology and Control of Winged Drones

Additively manufactured stretchable zipping electrostatic actuators

Towards edible robots and robotic food

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Biohybrid Superorganisms—On the Design of a Robotic System for Thermal Interactions With Honeybee Colonies