Roombots: Reconfigurable Robots for Adaptive Furniture

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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 ...

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 ...

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

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 this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic chains. Our method employs a combination of Bernstein polynomials to encode ...

Let K be an algebraically closed field of characteristic zero, and let G be a connected reductive algebraic group over K. We address the problem of classifying triples (G, H, V ), where H is a proper connected subgroup of G, and V is a finitedimensional ir ...

Because building-integrated photovoltaic (BIPV) modules are fully integrated into a building envelope, the back of the module can be exposed to little or no ventilation, resulting in increased operating temperatures. As the temperature increases, the perfo ...

The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...

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 ...

Solid-State Transformers with Input-Series/Output-Parallel configuration offer a convenient solution for AC/DC conversion due to their scalability and modularity. In this configuration, each module experiences a second-order harmonic ripple caused by local ...

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 ...

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 ...

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 ...

A correspondence functor is a functor from the category of finite sets and correspondences to the category of k-modules, where k is a commutative ring. By means of a suitably defined duality, new correspondence functors are constructed, having remarkable p ...

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 ...

In high energy physics, semiconductor-based sensors are widely used in particle tracking applications. These sensors are typically glued on low-mass cooling substrates, which guarantee the correct thermal management and, at the same time, minimise their in ...

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 ...

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 ...

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

Roombots: Reconfigurable Robots for Adaptive Furniture

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Memento Mori: Reliable robustness in self-reconfigurable modular robots

Robot Learning using Tensor Networks

Online Multicontact Receding Horizon Planning via Value Function Approximation

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

Representing Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

Multiplicity-free Representations of Algebraic Groups

Correlating long-term performance and aging behaviour of building integrated PV modules

Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator

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

Stability Analysis of Input-Series/Output-Parallel Solid-State Transformers Equipped with Second-Order Harmonic Active Power Filters

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

Investigating neural resource allocation in the sensorimotor control of extra limbs

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

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

Correspondence functors and duality

Morphological flexibility in robotic systems through physical polygon meshing

Interlocking modular microfluidic cooling substrates for future high energy physics experiments

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

Learning and optimization of anticipatory feedback controllers for robot manipulation

Motion Planning and Inertia Based Control for Impact Aware Manipulation