Lily: A Miniature Floating Robotic Platform for Programmable Stochastic Self-Assembly

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Implanted medical devices (IMDs) have been widely developed to support the monitoring and recording of biological data inside the body or brain. Wirelessly powered IMDs, a subset of implantable electronics, have been proposed to eliminate the limitations r ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...

A modular multiple frequency coils inductive link system to wirelessly provide power for at least a medical implant at an output of a receiving coil, whereby the receiving coil is configured to be implanted in an organism. The modular multiple frequency co ...

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 ...

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 ...

Wireless data communication could improve the performance and reliability of biomedical implants used in fundamental neuroscience research by removing infection-prone transcutaneous cabling. The small size of common research animals like mice and rodents, ...

In construction robotics, a conventional design-to-fabrication work-flow starts with designing a structure, followed by task and robotic motion planning, and ultimately, fabrication. However, this approach can prove unsuccessful, as we may only discover th ...

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

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 ...

Lily: A Miniature Floating Robotic Platform for Programmable Stochastic Self-Assembly

Chattez avec Graph Search

Integrated Wireless Power, Data Communication, and Thermal Sensing System for Autonomous Multisite Brain Implants

Hitting with Different Joints of a Robotic Manipulator

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Investigating neural resource allocation in the sensorimotor control of extra limbs

Online Multicontact Receding Horizon Planning via Value Function Approximation

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

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

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

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

Quantifying the biomimicry gap in biohybrid robot-fish pairs

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

Robot Learning using Tensor Networks

Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics

A modular multiple frequency inductive link to wirelessly power multiple miniaturized implants

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Radiation Performance of Antennas Implanted in Small Animals for Neuroengineering

Reinforcement learning for scaffold-free construction of spanning-structures

Avian-Inspired Claws Enable Robot Perching or Walking

Self-Correcting Quadratic Programming-Based Robot Control