From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems

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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 ...

Dynamical system (DS) based motion planning offers collision-free motion, with closed-loop reactivity thanks to their analytical expression. It ensures that obstacles are not penetrated by reshaping a nominal DS through matrix modulation, which is construc ...

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

In this article, we propose a dynamical system to avoid obstacles which are star shaped and simultaneously converge to a goal. The convergence is almost-global in a domain and the stationary points are identified explicitly. Our approach is based on the id ...

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 ...

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 ...

In this thesis we study stability from several viewpoints. After covering the practical importance, the rich history and the ever-growing list of manifestations of stability, we study the following. (i) (Statistical identification of stable dynamical syste ...

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

Computers have long been augmenting human capabilities and communication, and with emerging technologies, physical immersion in virtual worlds is now attainable. These advancements push the boundaries of human potential, allowing designers, architects, eng ...

Soft robots aim to revolutionize how robotic systems interact with the environment thanks to their inherent compliance. Some of these systems are even able to modulate their physical softness. However, simply equipping a robot with softness will not genera ...

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

The collective behavior of animals has been traditionally studied through observation, quantitative models of behavior, and devices of low intelligence. Nowadays, the advancements in the field of robotics allow for closed-loop experiments that occur in rea ...

A vehicle's steering is a particular system in that it is exposed to individual subjective reviews based on criteria that are hard to assess quantitatively. Haptic design of such systems is a prime concern that has been at the center of industrial developm ...

As the field of ethology advances, especially over the past two decades, the role of animal-robot interaction tools has increasingly become essential. This importance arises from the need for controlled, repetitive, repeatable, and long-duration experiment ...

Soft robotics requires effective tools to educate the next generation of engineers and researchers. Stemming from a lack of universally accepted principles for education and with high barriers to entry in terms of fabrication and hardware, education to dat ...

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

Humans can express their actions and intentions, resorting to verbal and/or non-verbal communication. In verbal communication, humans use language to express, in structured linguistic terms, the desired action they wish to perform. Non-verbal communication ...

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 ...

From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems

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Quantifying the biomimicry gap in biohybrid robot-fish pairs

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Dynamical system approach to navigation around obstacles

Geometric Learning: Leveraging differential geometry for learning and control

Robot Learning using Tensor Networks

Stability: a search for structure

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

Human Interactive Robotic Surfaces for Physical Immersion

Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

A biohybrid interaction framework for the integration of robots in animal societies

Haptics based collaborative steering control in automated driving environments

Challenges and approaches in bridging the biomimicry gap in biohybrid systems of fish and robots

Accessible Soft Robotics Education with Re-configurable Balloon Robots

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Non-verbal Communication between Humans and Robots: Imitation, Mutual Understanding and Inferring Object Properties

A robotic honeycomb for interaction with a honeybee colony