Concept

Motion control

Related publications (144)

Design of a Flexible Articulated Robotic Hand for a Humanoid Robot

It is often desirable for humanoid robots to have dexterous hands and perform human-like grasps. This requires a deliberate design of hands, in addition to a good actuation system and an efficient 3D vision system. In this paper, we present a simple method ...

IEEE2019

A low-cost, autonomous mobile platform for limnological investigations, supported by high-resolution mesoscale airborne imagery

David Andrew Barry, Ulrich Lemmin, Htet Kyi Wynn, Anton Ivanov, Abolfazl Irani Rahaghi, Stepan Tulyakov, Ludovic Zulliger, Nawaaz Sidharth Gujja Shaik, Jean-Luc Liardon, Philippe Olivier Paccaud, Jérôme Béguin, Beat Marcel Geissmann, Pascal Klaus

Two complementary measurement systems – built upon an autonomous floating craft and a tethered balloon – for lake research and monitoring are presented. The autonomous vehicle was assembled on a catamaran for stability, and is capable of handling a variety ...

2019

Keep Rollin’—Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

Marco Hutter

We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach r ...

2019

Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System

Xi Chen, Fabian Maximilian Schilling

Mobile manipulation robots have great potential for roles in support of rescuers on disaster-response missions. Robots can operate in places too dangerous for humans and therefore can assist in accomplishing hazardous tasks while their human operators work ...

2019

Closed-Loop Haptic Feedback Control Using a Self-Sensing Soft Pneumatic Actuator Skin

Stéphanie Lacour, Jamie Paik, Harshal Arun Sonar, Aaron Powers Gerratt

In this article, we achieve a closed-loop control over haptic feedback, first time for an entirely soft platform. We prototyped a novel self-sensing soft pneumatic actuator (SPA) with soft strain sensors, called SPA-skin, which withstands large multiaxial ...

2019

Bistable silicon photonic MEMS switches

We present the design of a non-volatile, bistable silicon photonic MEMS switch. The switch architecture builds on our previously demonstrated silicon photonic MEMS switch unit cell, using vertically movable adiabatic couplers. We here propose to exploit co ...

SPIE2019

Design of a Highly Biomimetic and Fully-Actuated Robotic Finger

Daniel Thalmann

During design a mechanical structure such as a robotic finger, modeling parts and designing joints are two time-consuming steps. This paper presents a method for design and fabrication of a humanoid robotic finger that intends to mimic the human finger in ...

IEEE2019

Automatic extraction of constraints in manipulation tasks for autonomy and interaction

Ana-Lucia Ureche

Tasks routinely executed by humans involve sequences of actions performed with high dexterity and coordination. Fully specifying these actions such that a robot could replicate the task is often difficult. Furthermore the uncertainties introduced by the us ...

EPFL2018

Optimization-based motion planning for legged robots

Alexander Winkler

Legged machines have the potential to traverse terrain that wheeled robots cannot. These capabilities are useful in scenarios such as stairs in homes or debris-filled disaster scenes, such as earthquake areas. This thesis develops one of the algorithms nec ...

ETH Zurich2018

Clothing as a transport vector for airborne particles: Chamber study

Dusan Licina

Strong evidence suggests that clothing serves as a reservoir of chemical pollutants and particles, including bioaerosols, which may have health significance. However, little is known about the role that clothing may play as a transport vector for inhaled a ...

2018

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