A framework integrating statistical and social cues to teach a humanoid robot new skills

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Publications associées (31)

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An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks

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Humans use tools to complete impact-aware tasks, such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding a tool plays a ...

Ieee-Inst Electrical Electronics Engineers Inc2024

3D printed large amplitude torsional microactuators powered by ultrasound

Mahmut Selman Sakar, Amit Yedidia Dolev, Mehdi Ali Gadiri, Junsun Hwang

Here, we introduce a design, fabrication, and control methodology for large amplitude torsional microactuators powered by ultrasound. The microactuators are 3D printed from two polymers with drastically different elastic moduli as a monolithic compliant me ...

2024

Frequency response of fiber reinforced DEAs

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Stefania Maria Aliki Konstantinidi

Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

Society of Photo-Optical Instrumentation Engineers (SPIE)2024

Uncovering interactions between Descending Neurons as a functional principle of behavioural control

Jonas Friedrich Braun

Animals, including humans, exhibit a remarkable variety of complex behaviours. How the nervous system controls all these behaviours ranging from simple, stereotyped movements to flexible, adaptive actions is a central questions of neuroscience. One of the ...

EPFL2024

SORI: A softness-rendering interface to unravel the nature of softness perception

Hwayeong Jeong, Jamie Paik, Mustafa Mete

Tactile perception of softness serves a critical role in the survival, well-being, and social interaction among various species, including humans. This perception informs activities from food selection in animals to medical palpation for disease detection ...

National Academy of Sciences2024

Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis

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

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

Utku Norman

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 ...

EPFL2023

Accessible Soft Robotics Education with Re-configurable Balloon Robots

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday, Yi-Shiun Wu

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 ...

IEEE2023

Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

Barbara Bruno

Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...

IEEE2023

The science of soft robot design: A review of motivations, methods and enabling technologies

Josephine Anna Eleanor Hughes, Francesco Stella

Novel technologies, fabrication methods, controllers and computational methods are rapidly advancing the capabilities of soft robotics. This is creating the need for design techniques and methodologies that are suited for the multi-disciplinary nature of s ...

FRONTIERS MEDIA SA2023

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