Publications associées à Lattice-and-Plate Model: Mechanics Modeling of Physical Origami Robots

Seeking the new, learning from the unexpected: Computational models of surprise and novelty in the brain

Human babies have a natural desire to interact with new toys and objects, through which they learn how the world around them works, e.g., that glass shatters when dropped, but a rubber ball does not. When their predictions are proven incorrect, such as whe ...

EPFL2024

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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 ...

EPFL2024

3D printed large amplitude torsional microactuators powered by ultrasound

Mehdi Ali Gadiri, Mahmut Selman Sakar, Amit Yedidia Dolev, Junsun Hwang

Here, we introduce a design, fabrication, and control methodology for large amplitude torsional microactuators powered by ultrasound. The microactuators are 3D printed from two polymers with drastically different elastic moduli as a monolithic compliant me ...

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Geometric Learning: Leveraging differential geometry for learning and control

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In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

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Investigating neural resource allocation in the sensorimotor control of extra limbs

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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 ...

EPFL2024

Frequency response of fiber reinforced DEAs

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Stefania Maria Aliki Konstantinidi, Markus Koenigsdorff

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 ...

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The proliferation of microscopy methods for live-cell imaging offers many new possibilities for users but can also be challenging to navigate. The prevailing challenge in live-cell fluorescence microscopy is capturing intra-cellular dynamics while preservi ...

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We present a combination technique based on mixed differences of both spatial approximations and quadrature formulae for the stochastic variables to solve efficiently a class of optimal control problems (OCPs) constrained by random partial differential equ ...

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The local physical properties - such as shape and flexibility - of the DNA double-helix is today widely believed to be influenced by nucleic acid sequence in a non-trivial way. Furthermore, there is strong evidence that these properties play a role in many ...

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Dynamic Modeling of an Origami Prismatic Joint

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Dynamic modeling of folding joints is critical for predicting dynamic behavior, optimizing design parameters, and developing control strategies for origami robots and machines. Although kinematics of the folded joints exists, little research describes thei ...

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Training Efficient Controllers via Analytic Policy Gradient

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Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

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The complex mechanics of porous and granular media play a significant role in various industrial processes and natural phenomena. As an example, understanding the mechanics of how failure occurs, localizes and propagates in porous brittle solids under vari ...

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Novel technologies, fabrication methods, controllers and computational methods are rapidly advancing the capabilities of soft robotics. This is creating the need for design techniques and methodologies that are suited for the multi-disciplinary nature of s ...

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

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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 ...

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We study socio-political systems in representative democracies. Motivated by problems that affect the proper functioning of the system, we build computational methods to answer research questions regarding the phenomena occurring in them. For each phenomen ...

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Model-free data-driven computational mechanics (DDCM) is a new paradigm for simulations in solid mechanics. The modeling step associated to the definition of a material constitutive law is circumvented through the introduction of an abstract phase space in ...

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Automatic control design for robotic systems is becoming more and more popular. However, this usually involves a significant computational cost, due to the expensive and noisy evaluation of candidate solutions through highfidelity simulation or even real h ...

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