Extending Sensory Capabilities of a Biohybrid System: Prediction of Honeycomb Fill

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Triboelectric nanogenerators (TENGs) serve as a key technology in flexible electronic devices, especially tactile sensors, enabling flexible robotic manipulators to effectively interact with their external environment. Persistent challenges include inadequ ...

Tactile fingertips are a vital component of biological dexterity, where they convey information from the environment through our sensory systems. Similarly, sensorized robotic fingertips are needed to unlock robotic dexterity, versatility, and diverse inte ...

Animals, including humans, interact with the external environment primarily through motion. Replicating their motor control skills in artificial embodied agents is a major objective of artificial intelligence research. This thesis presents a collection of ...

Compliant mechanisms can advantageously be preloaded by buckled beams in order to reduce their motion stiffness, and therefore also their actuation forces. However, preloading compliant mechanisms has the side-effect of modifying the deformation of their f ...

Humans and animals both use acoustic signals for vocal communication. The advent of self-supervised learning (SSL) has enabled neural networks to learn robust and general feature representations through the intrinsic acoustic structure of input signals, wi ...

In recent years, soft robotics has surged in applications like wearables, drones, smart fabrics, and medical instruments. Due to their compliance, these devices excel in tasks demanding dexterity and adaptability, such as manipulation, locomotion, crash re ...

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

Efficient and safe multi-agent swarm coordination in environments where humans operate, such as warehouses, assistive living rooms, or automated hospitals, is crucial for adopting automation. In this paper, we augment the obstacle avoidance algorithm based ...

Animal locomotion results from a combination of power modulation and cyclic appendage trajectories, but combining these two properties in small-sized robots is difficult. Here, we introduce and characterize a new elastic actuation system based on an invert ...

Heart failure is a cardiovascular disease affecting between 1 and 2% of the population of developed countries alone - more than 10 million people - with this number bound to increase due to the ageing of the population. This condition starts to develop its ...

Recent works in aerial robotics show that the self-organized and cohesive flight of swarms can emerge from the exchange of purely local information between neighboring agents. However, most of the current swarm models are not capable of flight in densely c ...

Handling of fabric is a crucial step in the manufacturing of garments. This task is typically performed by trained workers who manipulate one sheet at a time, thus introducing a bottleneck in the automation of the textile industry. This paper seeks to addr ...

Extending Sensory Capabilities of a Biohybrid System: Prediction of Honeycomb Fill

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Intelligent Soft Robotic System for Sensing and Recognition via Triboelectric‐Based Multi‐Sensor Fusion

Automated Benchmarking of Variable‐Property Soft Robotic Fingertips to Enable Task‐Optimized Sensor Selection

Musculoskeletal motor control with reinforcement learning

Zero-force rectilinear flexure-based translation stage: Experimental validations

Transferability of Learnt Speech Representations for Decoding Non-Human Vocal Communication

Filiform Variable Stiffness Technologies for Medical Robotics

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Agent Prioritization and Virtual Drag Minimization in Dynamical System Modulation For Obstacle Avoidance of Decentralized Swarms

Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation

Ultra-high voltage, low power and energy recovering electronics for dielectric elastomer actuators

Distributed Predictive Drone Swarms in Cluttered Environments

Dexterous textile manipulation using electroadhesive fingers