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

Publications associées (16)

Toward more naturalistic tactile sensors

The human hand is a remarkable organ used every day to interact with the world. To achieve this, the hand is equipped with several sophisticated natural sensors that perceive touch, position, and temperature. Artificial systems that mimic the natural sense ...

American Association for the Advancement of Science2024

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Francesco Mondada, Vaios Papaspyros

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 ...

2024

Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

Mary Ann Liebert Inc.2022

Do Children Adapt Their Perspective to a Robot When They Fail to Complete a Task?

Pierre Dillenbourg, Elmira Yadollahi

Spatial understanding and communication are essential skills in human interaction. An adequate understanding of others' spatial perspectives can increase the quality of the interaction, both perceptually and cognitively. In this paper, we take the first st ...

Assoc Computing Machinery2022

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

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

Force Adaptation in Contact Tasks with Dynamical Systems

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

In many tasks such as finishing operations, achieving accurate force tracking is essential. However, uncertainties in the robot dynamics and the environment limit the force tracking accuracy. Learning a compensation model for these uncertainties to reduce ...

IEEE2020

From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems

Nadia Barbara Figueroa Fernandez

Humans have a remarkable way of learning, adapting and mastering new manipulation tasks. With the current advances in Machine Learning (ML), the promise of having robots with such capabilities seems to be on the cusp of reality. Transferring human-level sk ...

EPFL2019

A Robotic System for Adaptive Training and Function Assessment of Forelimb Retraction in Mice

Silvestro Micera

Rodent models are decisive for translational research in healthy and pathological conditions of motor function thanks to specific similarities with humans. Here, we present an upgraded version of the M-Platform, a robotic device previously designed to trai ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2018

Shoaling with fish: using miniature robotic agents to close the interaction loop with groups of zebrafish Danio rerio

Frank Bonnet

Robotic animals are nowadays developed for various types of research, such as bio-inspired robotics, biomimetics and animal behavior studies. The miniaturization of technologies and the increase in performance of embedded systems allowed engineers to devel ...

EPFL2017

Adaptation and coaching of periodic motion primitives through physical and visual interaction

Tadej Petric

In this paper we propose and evaluate a control system to (1) learn and (2) adapt robot motion for continuous non-rigid contact with the environment. We present the approach in the context of wiping surfaces with robots. Our approach is based on learning b ...

Elsevier2016

Compliant snake robot locomotion on horizontal pipes

Auke Ijspeert, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu, Massimo Vespignani

In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better pe ...

2015

Time-Optimal Path Following for Robots With Convex-Concave Constraints Using Sequential Convex Programming

Quoc Tran Dinh

Time-optimal path following considers the problem of moving along a predetermined geometric path in minimum time. In the case of a robotic manipulator with simplified constraints, a convex reformulation of this optimal control problem has been derived prev ...

Institute of Electrical and Electronics Engineers2013

Magnetic wheels optimization and application to the MagneBike climbing robot

Francesco Mondada, Hannes Bleuler, Frédéric Rochat, Patrick Schoeneich, Fabien Tâche

Magnetic wheels are a powerful solution to design inspection climbing robots with excellent mobility. Magnetic wheels optimization based on simulations and the results that were obtained on prototypes are presented. The measured adhesion was doubled betwee ...

World Scientific2010

Improving the accuracy of the 5-axis parallel kinematics machine-tool Hita-STT (Stiffness Tracking Technology)

Reymond Clavel

The Hita-STT is a five-axis parallel kinematics machine-tool designed for machining and polishing complex parts for applications in medical, automotive components, watch industries. The kinematics of Hita-STT prototype presents an over-constrained design i ...

2006

Simulation and robotics studies of salamander locomotion

Auke Ijspeert, Alessandro Crespi

Springer, Humana Press2005