Bridging Multilevel Time Scales in HRI

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Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...

Robotic technologies have shown the capability to interact with living organisms and even to form integrated mixed societies composed of living and artificial agents. Biocompatible robots, incorporating sensing and actuation capable of generating and respo ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

Reciprocal Peer Tutoring (RPT) is a learning paradigm characteristic of collaborative interaction between learners with alternating tutortutee roles. In recent years, robot-assisted language learning (RALL) has gained traction by its wide application for l ...

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 ...

Robot motor skills can be acquired by deep reinforcement learning as neural networks to reflect state-action mapping. The selection of states has been demonstrated to be crucial for successful robot motor learning. However, because of the complexity of neu ...

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 ...

Bistable structures in nature are unparalleled for their fast response and force amplification even with the most minute physical stimula-tion. However, current works on bistable structures mainly focus on their stable states, while promising intermediate ...

Owing to the remarkable properties of the somatosensory system, human skin compactly perceives myriad forms of physical stimuli with high precision. Machines, conversely, are often equipped with sensory suites constituted of dozens of unique sensors, each ...

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

The following data contain the information and files, which are required to recreate and build the experimental setup that is described in the Laboratory manual. Further details can be found in the associated publication “A graduate laboratory experiment t ...

Bridging Multilevel Time Scales in HRI

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Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

A robotic honeycomb for interaction with a honeybee colony

Implicit Distance Functions: Learning and Applications in Robotics

Language Learning using Caption Generation within Reciprocal Multi-Party Child-Tutor-Tutee Interaction

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

Identifying important sensory feedback for learning locomotion skills

Learning and optimization of anticipatory feedback controllers for robot manipulation

Ultra-tunable bistable structures for universal robotic applications

Multi-modal deformation and temperature sensing for context-sensitive machines

A geometric optimal control approach for imitation and generalization of manipulation skills

Acoustic Levitation apparatus (Robotics Practicals)