Identifying important sensory feedback for learning locomotion skills

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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 ...

The ability to make compliant physical interactions enables robots to robustly contact with the environment. This plays a significant role in advancing robotic hands which must constantly interact with the world, often with large uncertainties and variatio ...

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 ...

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 ...

Reinforcement feedback can improve motor learning, but the underlying brain mechanisms remain underexplored. In particular, the causal contribution of specific patterns of oscillatory activity within the human striatum is unknown. To address this question, ...

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 this thesis we explore the applications of projective geometry, a mathematical theory of the relation between 3D scenes and their 2D images, in modern learning-based computer vision systems. This is an interesting research question which contradicts the ...

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 ...

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 ...

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 ...

The capabilities of deep learning systems have advanced much faster than our ability to understand them. Whilst the gains from deep neural networks (DNNs) are significant, they are accompanied by a growing risk and gravity of a bad outcome. This is troubli ...

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 ...

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

Identifying important sensory feedback for learning locomotion skills

Chattez avec Graph Search

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

Experimental assessment, design, and control of compliance in dexterous robotic hands

DiffCheck: A scan-CAD evaluation tool for digital manufacturing and assembly processes in timber construction

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Non-invasive stimulation of the human striatum disrupts reinforcement learning of motor skills

Investigating neural resource allocation in the sensorimotor control of extra limbs

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

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Robot Learning using Tensor Networks

Online Multicontact Receding Horizon Planning via Value Function Approximation

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

Hitting with Different Joints of a Robotic Manipulator

Incorporating Projective Geometry into Deep Learning

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

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

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

Safe Deep Neural Networks

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

Augmenting locomotor perception by remapping tactile foot sensation to the back