Publication

Angular Motion Control Using a Closed-Loop CPG for a Water-Running Robot

Publications associées (28)

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

EPFL2024

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

Sudong Lee

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

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

IEEE2023

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

Atmospheric water harvesting in semi-arid regions by membranes: A techno-economic assessment

Kumar Varoon Agrawal, Marina Micari, Xuekui Duan

The availability of a reliable and sufficient amount of water constitutes one of the Sustainable Development Goals set by the United Nations. The provision of water is still challenging in many regions of the world, especially in arid and semi-arid regions ...

ELSEVIER2023

Neuromechanical Simulations of Animats with Decentralised Control

Jonathan Patrick Arreguit O'Neill

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

EPFL2023

Estimating pollution spread in water networks as a Schrödinger bridge problem with partial information

Isabel Haasler

Incidents where water networks are contaminated with microorganisms or pollutants can result in a large number of infected or ill persons, and it is therefore important to quickly detect, localize and estimate the spread and source of the contamination. In ...

Elsevier2023

Ecosystem engineering by periphyton in Alpine proglacial streams

Matteo Roncoroni, Tom Ian Battin, Marc Aguet, Adrijan Selitaj, Davide Mancini

Stream periphytons are candidate ecosystem engineers in proglacial margins. Here, we quantify the extent to which they are engineers for the case of hillslope-fed tributaries in the terrace zones of proglacial margin alluvial plains. Candidate ecosystem en ...

WILEY2023