Control of legged locomotion using dynamical systems : design methods and adaptive frequency oscillators

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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 ...

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 ...

In recent years, the emphasis on computational thinking (CT) has intensified as an effect of accelerated digitalisation. While most researchers are concentrating on defining CT and developing tools for its instruction and assessment, we focus on the charac ...

A de facto standard approach in solving computer vision tasks is to use a common high-resolution camera and choose its placement on an agent based on human intuition. On the other hand, extremely simple and well-designed visual sensors found throughout nat ...

In digital timber construction, scanning technologies and point cloud data are widely used due to the accessibility of affordable 3D sensors, photogrammetry, and userfriendly CAD tools. While typically not employed for accuracy checks in timber fabrication ...

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 ...

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 ...

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 ...

Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in the spinal cord, and musculoskeletal system. Traditional bioinspired control f ...

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 ...

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 ...

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 ...

Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

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 ...

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

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 ...

This article summarizes the recent advancements in the design, fabrication, and control of microrobotic devices for the diagnosis and treatment of brain disorders. With a focus on diverse actuation methods, we discuss how advancements in materials science ...

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 ...

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Control of legged locomotion using dynamical systems : design methods and adaptive frequency oscillators

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

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

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How Far Can a 1-Pixel Camera Go? Solving Vision Tasks Using Photoreceptors and Computationally Designed Visual Morphology

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Online Multicontact Receding Horizon Planning via Value Function Approximation

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

Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion

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

Hitting with Different Joints of a Robotic Manipulator

Robot Learning using Tensor Networks

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Frequency response of fiber reinforced DEAs

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

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Small-scale robotic devices for medical interventions in the brain

Educational Soft Underwater Robot with an Electromagnetic Actuation

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC