Concept
Bio-inspired robotics
Related publications (467)
Compliant universal grippers as adaptive feet in legged robots
Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser
This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...
2018Low-inertia vacuum-powered soft pneumatic actuator coil characterization and design methodology
Jamie Paik, Matthew Aaron Robertson
Recently developed soft pneumatic actuators (SPAs) powered by negative pressure have demonstrated great potential in the future of soft robotics for their high strength, intrinsic safety, low weight, and often simple design. The majority of these have only ...
2018How mimetic should a robotic fish be to socially integrate into zebrafish groups ?
Francesco Mondada, Alexey Gribovskiy, Frank Bonnet, Bertrand Eric Collignon
Biomimetic robots are promising tools in animal behavioural studies. If they are socially integrated in a group of animals, they can produce calibrated social stimuli to test the animal responses. However, the design of such social robots is challenging as ...
2018Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots
Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified
or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common
benchmark can be found. Further, it is unclear, what minimal leve ...
EPFL2018Online walking motion and foothold optimization for quadruped locomotion
Jonas Buchli, Farbod Farshidian, Alexander Winkler
Abstract: We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds. Feasibility is achieved by i ...
2018Strain Sensor-Embedded Soft Pneumatic Actuators for Extension and Bending Feedback
Jamie Paik, Michelle Ching-Sum Yuen
For soft robots to leave the lab and enter unstructured environments, proprioception is required to understand how interactions in the field affect the soft structure. In this work, we present sensor-embedded soft pneumatic actuators (sSPA) that can observ ...
IEEE2018Optimization-based motion planning for legged robots
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 Zurich2018Soft Biomimetic Fish Robot Made of Dielectric Elastomer Actuators
Dario Floreano, Herbert Shea, Jun Shintake, Vito Cacucciolo
This article presents the design, fabrication, and characterization of a soft biomimetic robotic fish based on dielectric elastomer actuators (DEAs) that swims by body and/or caudal fin (BCF) propulsion. BCF is a promising locomotion mechanism that potenti ...
2018Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics
How do I automate this task? This is a crucial question for production engineers. In classical industrial automation (think of a car factory) robots perform a small set of tasks for long periods of time. They were selected because their kinematic structure ...
2018Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics
How do I automate this task? This is a crucial question for production engineers. In classical industrial automation (think of a car factory) robots perform a small set of tasks for long periods of time. They were selected because their kinematic structure ...
2018