Learning of Grasp Adaptation through Experience and Tactile Sensing

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Light and sound waves can move objects through the transfer of linear or angular momentum, which has led to the development of optical and acoustic tweezers, with applications ranging from biomedical engineering to quantum optics. Although impressive manip ...

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches have shown remarkable success on synthetic datasets, we have observed them to fail in the presence of real-world data. We ...

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 use of soft and stretchable materials allows the development of adaptive robotic systems and human-machine interfaces that are more natural and comfortable to interact with. One of the application fields that benefits the most from these compliant mate ...

An electroadhesive gripping system and a method for gripping and manipulating an object are disclosed. The invention provides a novel approach particularly useful to pick fabrics or otherwise flat and flexible objects including a method relying on electroa ...

Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Commercial devices usually use a two-recording-channel system placed on specific muscles to control a single degree of fr ...

The study of non-contact manipulation in water, and the ability to robotically control floating objects has gained recent attention due to wide-ranging potential applications, including the analysis of plastic pollution in the oceans and the optimization o ...

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

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 ...

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

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 ...

When developing or designing biomimetic robotic fingers with rigid and soft components and integrated sensors, fabrication is often a bottle-neck when assembling and casting processing techniques are used. This study introduces a thermoplastic multi-materi ...

Multicellular organisms require very well organized and finely balanced cell-cell communication, adhesion and coordination to ensure the organisms homeostasis. These functions rely on specialized receptors placed at the cells membrane whose binding to thei ...

Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects ...

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

The properties of signal strength and integrated intensity in a scanned imaging system are reviewed. These prop-erties are especially applied to confocal imaging systems, including image scanning microscopy. The integrated intensity, equal to the image of ...

Modern computing systems are so energy- intensive to make efficient cooling vital for their operation. This is giving rise to a variety of innovative cooling solutions based on a mix of traditional and new techniques. The design and engineering of these so ...

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

As technology continues to evolve, robots are becoming an intrinsic part of our lives. While robots surpass human capabilities in precision and speed, they are far from matching humans' ability to adapt to unexpected changes. Humans can quickly and complia ...

From surgery to watchmaking, fine-manipulation skills highly rely on the dexterity afforded by both hands. Coordination is key to human dexterity. Specifically, humans need not only to govern the abundant intrinsic degrees of freedom (DOFs) to allocate con ...

Learning of Grasp Adaptation through Experience and Tactile Sensing

Chattez avec Graph Search

Wave-momentum shaping for moving objects in heterogeneous and dynamic media

Match Normalization: Learning-Based Point Cloud Registration for 6D Object Pose Estimation in the Real World

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

Additively manufactured stretchable zipping electrostatic actuators

Electroadhesive gripping system and method for gripping an object

Improving hand prosthesis control with advanced single-finger proportional decoding and robotic shared control

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Self-Correcting Quadratic Programming-Based Robot Control

Training Efficient Controllers via Analytic Policy Gradient

Learning and optimization of anticipatory feedback controllers for robot manipulation

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process

Combination of dielectrophoretic and hydrodynamic traps for the controlled contact between cells or beads and application to adhesion assays

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Signal strength and integrated intensity in confocal and image scanning microscopy

Object-oriented modelling of advanced computer cooling solutions

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation

Enhancing our understanding of human fine manipulation skills and advancing robot dexterity in grasping