VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior

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Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

This paper proposes closed-form expressions for the calculation of the ground-return impedance and admittance of underground cables. The proposed expressions are shown to reproduce the integral equations of Xue with great accuracy for a wide range of groun ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

Conformal phased arrays can be found in many applications due to their ability to fit tridimensional surfaces and, thanks to their scanning performance, can excel planar arrays. However, most of the previously proposed analysis methods can be applied only ...

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 ...

There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

This paper presents an acoustic impedance control architecture for an electroacoustic absorber combining both feedforward and feedback microphone-based strategies on a current-driven loudspeaker. Feedforward systems enable good performance for direct imped ...

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 ...

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 ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

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 ...

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

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 ...

Bimanual grabbing and tossing of packages onto trays or conveyor belts remains a human activity in the industry. For robots, such a dynamic task requires coordination between two arms and fast adaptation abilities when the tossing target is moving and subj ...

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 ...

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 ...

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 ...

The effects of robotics and artificial intelligence (AI) on the job market are matters of great social concern. Economists and technology experts are debating at what rate, and to what extent, technology could be used to replace humans in occupations, and ...

Increasing the capability of automated driving vehicles is motivated by environmental, productivity, and traffic safety benefits. But over-reliance on the automation system is known to cause accidents. The role of the driver cannot be underestimated as it ...

VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior

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A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Closed-Form Expressions for the Calculation of the Ground-Return Impedance and Admittance of Underground Cables

Self-Correcting Quadratic Programming-Based Robot Control

Analysis of Non-Canonical Body-Conformal Arrays with Polarization Decomposition

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

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

Robust direct acoustic impedance control using two microphones for mixed feedforward-feedback controller

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

Implicit Distance Functions: Learning and Applications in Robotics

Exploration-based model learning with self-attention for risk-sensitive robot control

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

Online active and dynamic object shape exploration with a multi-fingered robotic hand

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

Bimanual dynamic grabbing and tossing of objects onto a moving target

Accessible Soft Robotics Education with Re-configurable Balloon Robots

Human Interactive Robotic Surfaces for Physical Immersion

Identifying important sensory feedback for learning locomotion skills

How to compete with robots by assessing job automation risks and resilient alternatives

Haptics based multi-level collaborative steering control for automated driving