Publication

Wearable Robotics for Impaired Upper-Limb Assistance and Rehabilitation: State of the Art and Future Perspectives

Publications associées (31)

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

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 ...

2023

Learning and optimization of anticipatory feedback controllers for robot manipulation

Hakan Girgin

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 ...

EPFL2023

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

Hala Khodr

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 ...

EPFL2023

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

Josephine Anna Eleanor Hughes, Francesco Stella

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 ...

MARY ANN LIEBERT, INC2023

Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Konstantinos Chatzilygeroudis, Farshad Khadivar

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 ...

2023

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

Nicolas Henry Pierre Louis Rogeau

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 ...

EPFL2023

Improving hand prosthesis control with advanced single-finger proportional decoding and robotic shared control

Vincent Alexandre Mendez

Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Commercial devices usually use a two-recording-channel system placed on specific muscles to control a single degree of fr ...

EPFL2023

Morphological flexibility in robotic systems through physical polygon meshing

Jamie Paik, Christoph Heinrich Belke, Kevin Andrew Holdcroft, Alexander Thomas Sigrist

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Nature Portfolio2023

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

David Julian Gonon

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 ...

EPFL2023

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Josephine Anna Eleanor Hughes, Francesco Stella

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' ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Stéphanie Lacour, Ivan Furfaro, Emilio Fernández Lavado, Haotian Chen

Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...

2023