Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture

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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 ...

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 ...

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 ...

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 ...

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 ...

We present a new algorithm for imitation learning in infinite horizon linear MDPs dubbed ILARL which greatly improves the bound on the number of trajectories that the learner needs to sample from the environment. In particular, we re- move exploration assu ...

Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

Let K be an algebraically closed field of characteristic zero, and let G be a connected reductive algebraic group over K. We address the problem of classifying triples (G, H, V ), where H is a proper connected subgroup of G, and V is a finitedimensional ir ...

Because building-integrated photovoltaic (BIPV) modules are fully integrated into a building envelope, the back of the module can be exposed to little or no ventilation, resulting in increased operating temperatures. As the temperature increases, the perfo ...

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 ...

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 ...

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 ...

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 ...

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

In early 2016, we had the opportunity to test a pair of sprawling posture robots, one designed to mimic a crocodile and another designed to mimic a monitor lizard, along the banks of the Nile River in Uganda, Africa. These robots were developed uniquely fo ...

Locomotion is based on a sophisticated interaction among the environment, the musculoskeletal system, the spinal cord, and the brain locomotor areas. Quality of life is strongly related to the proper capability of this movement. However, many pathologies, ...

Locomotion is an essential evolutive innovation of living beings that allows them to colonize and dominate the planet. As diverse as animal morphologies are (living) and were (extinct), their locomotion modalities are also diverse. In particular, animal mo ...

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 ...

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 ...

Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture

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Memento Mori: Reliable robustness in self-reconfigurable modular robots

Online Multicontact Receding Horizon Planning via Value Function Approximation

Robot Learning using Tensor Networks

Investigating neural resource allocation in the sensorimotor control of extra limbs

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

Imitation Learning in Discounted Linear MDPs without exploration assumptions

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

Multiplicity-free Representations of Algebraic Groups

Correlating long-term performance and aging behaviour of building integrated PV modules

Educational Soft Underwater Robot with an Electromagnetic Actuation

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

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

Frequency response of fiber reinforced DEAs

Neuromechanical Simulations of Animats with Decentralised Control

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Animal robots in the African wilderness: Lessons learned and outlook for field robotics

Investigating the neuromechanical control of healthy gait modulation and pathological gaits observed in cerebral palsy using neuromuscular simulations

Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion

Morphological flexibility in robotic systems through physical polygon meshing

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