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

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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 ...

Photometric stereo, a computer vision technique for estimating the 3D shape of objects through images captured under varying illumination conditions, has been a topic of research for nearly four decades. In its general formulation, photometric stereo is an ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

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 ...

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

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 ...

Turning pass-through network architectures into iterative ones, which use their own output as input, is a well-known approach for boosting performance. In this paper, we argue that such architectures offer an additional benefit: The convergence rate of the ...

Operators from various industries have been pushing the adoption of wireless sensing nodes for industrial monitoring, and such efforts have produced sizeable condition monitoring datasets that can be used to build diagnosis algorithms capable of warning ma ...

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 ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

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 ...

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Commercial devices usually use a two-recording-channel system placed on specific muscles to control a single degree of fr ...

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 ...

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 ...

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

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 ...

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 ...

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 ...

When developing or designing biomimetic robotic fingers with rigid and soft components and integrated sensors, fabrication is often a bottle-neck when assembling and casting processing techniques are used. This study introduces a thermoplastic multi-materi ...

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

Chattez avec Graph Search

Online Multicontact Receding Horizon Planning via Value Function Approximation

Aggregating Spatial and Photometric Context for Photometric Stereo

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Towards edible robots and robotic food

Geometric Learning: Leveraging differential geometry for learning and control

3D printed large amplitude torsional microactuators powered by ultrasound

Enabling Uncertainty Estimation in Iterative Neural Networks

Federated learning with uncertainty-based client clustering for fleet-wide fault diagnosis

Self-Correcting Quadratic Programming-Based Robot Control

Exploration-based model learning with self-attention for risk-sensitive robot control

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

Learning and optimization of anticipatory feedback controllers for robot manipulation

Improving hand prosthesis control with advanced single-finger proportional decoding and robotic shared control

Investigating neural resource allocation in the sensorimotor control of extra limbs

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Morphological flexibility in robotic systems through physical polygon meshing

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Quantifying the biomimicry gap in biohybrid robot-fish pairs

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

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process