Online Multicontact Receding Horizon Planning via Value Function Approximation

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Birds have the remarkable ability to travel boundlessly both on the ground and in the air. This unique capability has inspired engineers to develop multimodal robots capable of terrestrial and aerial locomotion for a wider application of robots with multip ...

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 ...

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 builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

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 ...

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 ...

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

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 ...

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 ...

This article summarizes the recent advancements in the design, fabrication, and control of microrobotic devices for the diagnosis and treatment of brain disorders. With a focus on diverse actuation methods, we discuss how advancements in materials science ...

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 ...

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace ...

Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

Traditional example-based learning methods are often limited by static, expert-created content. Hence, they face challenges in scalability, engagement, and effectiveness, as some learners might struggle to relate to the examples or find them relevant. To a ...

Writing high-quality procedural texts is a challenging task for many learners. While example-based learning has shown promise as a feedback approach, a limitation arises when all learners receive the same content without considering their individual input ...

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 ...

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 ...

During reaching actions, the human central nerve system (CNS) generates the trajectories that optimize effort and time. When there is an obstacle in the path, we make sure that our arm passes the obstacle with a sufficient margin. This comfort margin varie ...

Online Multicontact Receding Horizon Planning via Value Function Approximation

Chattez avec Graph Search

Avian-inspired designs for multi-modal robots

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

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Hitting with Different Joints of a Robotic Manipulator

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Robot Learning using Tensor Networks

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Investigating neural resource allocation in the sensorimotor control of extra limbs

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

Small-scale robotic devices for medical interventions in the brain

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Educational Soft Underwater Robot with an Electromagnetic Actuation

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

GELEX: Generative AI-Hybrid System for Example-Based Learning

Enhancing Procedural Writing Through Personalized Example Retrieval: A Case Study on Cooking Recipes

Self-Correcting Quadratic Programming-Based Robot Control

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

Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals