In nature, aquatic animals leverage the interaction between their soft bodies and surrounding fluid to achieve efficient locomotion; for animals with multiple limbs, this requires careful coordination among the limbs. The octopus, with its tentacles and fl ...
Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...
Actuator placement is a fundamental problem in control design for large-scale networks. In this paper, we study the problem of finding a set of actuator positions by minimizing a given metric, while satisfying a structural controllability requirement and a ...
Autonomous soft robots require compact actuators generating large strokes and high forces. Electro-fluidic actuators are especially promising, they combine the advantages of electroactive polymers (low-power consumption, fast response, and electrical power ...
Legged locomotion with spinal undulations is a topic that has not received much attention yet in robotics, though, vertebrates depend on both their limbs and spine to move efficiently in their environments. In this thesis, my aim is to get more insights in ...
