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Topics in robotics
Related publications (1,000)
Learning to make mixed-integer robot motion planning easy
Robot motion planning involves finding a feasible path for a robot to follow while satisfying a set of constraints and optimizing an objective function. This problem is critical for enabling robots to navigate and perform tasks in realworld environments. H ...
2023Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding
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 ...
EPFL2023Accessible 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 ...
New York2023A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration
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 ...
New York2023Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness
Josephine Anna Eleanor Hughes, Francesco Stella
Soft robots aim to revolutionize how robotic systems interact with the environment thanks to their inherent compliance. Some of these systems are even able to modulate their physical softness. However, simply equipping a robot with softness will not genera ...
MARY ANN LIEBERT, INC2023Reinforcement learning for scaffold-free construction of spanning-structures
Maryam Kamgarpour, Stefana Parascho, Gabriel Rémi Vallat, Anna Maria Maddux, Jingwen Wang
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 ...
2023Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices
The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...
EPFL2023A Provably Stable Iterative Learning Controller for Continuum Soft Robots
Josephine Anna Eleanor Hughes, Francesco Stella
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' ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023Computational Models of Mutual Understanding for Human-Robot Collaborative Learning
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 ...
EPFL2023Sensorless force and displacement estimation in soft actuators
Jamie Paik, Sagar Dattatray Joshi
Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators ...
ROYAL SOC CHEMISTRY2023