Magnetic wheels optimization and application to the MagneBike climbing robot

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Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Dario Floreano, Nicola Nosengo

Stories from the future of intelligent machines—from rescue drones to robot spouses—and accounts of cutting-edge research that could make it all possible. Tech prognosticators promised us robots—autonomous humanoids that could carry out any number of tasks ...

MIT Press2022

Powerful 2D Soft Morphing Actuator Propels Giant Manta Ray Robot

Miao Li, Yi Sun

Soft actuator is the main technology that drives the development of soft robotics as it defines the capabilities of soft machines. One of the key challenges in soft actuator research is to simultaneously produce complex morphing (e.g., surface morphing) an ...

WILEY2022

Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation

Josephine Anna Eleanor Hughes, Kai Christian Junge, Nana Obayashi, Francesco Stella

Biology provides many examples of where body adaption can be used to achieve a change in functionality. The feather star, an underwater crinoid which uses feather arms to locomote and feed, is one such system; it releases its arms to distract prey and vary ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation

Josephine Anna Eleanor Hughes, Kai Christian Junge

The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging co ...

FRONTIERS MEDIA SA2022

3D printing of resilient biogels for omnidirectional and exteroceptive soft actuators

Florian Hartmann

Soft robotics greatly benefits from nature as a source of inspiration, introducing innate means of safe interaction between robotic appliances and living organisms. In contrast, the materials involved are often nonbiodegradable or stem from nonrenewable re ...

2022

Highly Integrated Multi-Material Fibers for Soft Robotics

Fabien Sorin, Andreas Leber, Chaoqun Dong, Nicola Bartolomei, Hritwick Banerjee, Stella Andréa Françoise Laperrousaz, Bastien Schyrr

Soft robots are envisioned as the next generation of safe biomedical devices in minimally invasive procedures. Yet, the difficulty of processing soft materials currently limits the size, aspect-ratio, manufacturing throughput, as well as, the design comple ...

WILEY2022

Flexure Variable Stiffness Actuators

Jamie Paik, Mustafa Mete, Frédéric Henri Vaskin Giraud

Series elastic actuators (SEAs) and variable elastic actuators (VSAs) provide shock resistance, energy storage, and stable force control. However, they usually require extra springs, mechanical parts, and transmissions, increasing size, weight, number of m ...

2022

The Gaze Dialogue Model: Nonverbal Communication in HHI and HRI

Aude Billard, José Santos-Victor, Nuno Ricardo Ferreira Duarte

When humans interact with each other, eye gaze movements have to support motor control as well as communication. On the one hand, we need to fixate the task goal to retrieve visual information required for safe and precise action-execution. On the other ha ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Aude Billard, Diego Felipe Paez Granados, Pericle Salvini

The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...

2022

Learning Optimal Impedance Control During Complex 3D Arm Movements

Sylvain Calinon

In daily life, humans use their limbs to perform various movements to interact with an external environment. Thanks to limb's variable and adaptive stiffness, humans can adapt their movements to unstable dynamics of the external environments. The underlyin ...

IEEE2021

Learning from demonstration using products of experts: Applications to manipulation and task prioritization

Sylvain Calinon, Emmanuel Pignat

Probability distributions are key components of many learning from demonstration (LfD) approaches, with the spaces chosen to represent tasks playing a central role. Although the robot configuration is defined by its joint angles, end-effector poses are oft ...

2021

Towards BCI-Based Interfaces for Augmented Reality: Feasibility, Design and Evaluation

Camille Marie Jeunet, Nicolas Julien Roussel

Brain-Computer Interfaces (BCIs) enable users to interact with computers without any dedicated movement, bringing new hands-free interaction paradigms. In this paper we study the combination of BCI and Augmented Reality (AR). We first tested the feasibilit ...

2020