Publications related to Bio-inspired robotics

Online Multicontact Receding Horizon Planning via Value Function Approximation

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 ...

Ieee-Inst Electrical Electronics Engineers Inc2024

VolRecon: Volume Rendering of Signed Ray Distance Functions for Generalizable Multi-View Reconstruction

Sabine Süsstrunk, Tong Zhang, Yufan Ren

The success of the Neural Radiance Fields (NeRF) in novel view synthesis has inspired researchers to propose neural implicit scene reconstruction. However, most existing neural implicit reconstruction methods optimize perscene parameters and therefore lack ...

2024

Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming

Josephine Anna Eleanor Hughes, Kai Christian Junge, Nana Obayashi, Andrea Vicari, Kamran Shakir

Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example when creating bi ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

The science of soft robot design: A review of motivations, methods and enabling technologies

Josephine Anna Eleanor Hughes, Francesco Stella

Novel technologies, fabrication methods, controllers and computational methods are rapidly advancing the capabilities of soft robotics. This is creating the need for design techniques and methodologies that are suited for the multi-disciplinary nature of s ...

FRONTIERS MEDIA SA2023

Prescribing 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, INC2023

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Auke Ijspeert, Karen Ann J Mulleners, Kamilo Andres Melo Becerra, Alexandros Anastasiadis, Laura Isabel Paez Coy, Eric Daniel Tytell

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

2023

Polydimethylsiloxane based soft polymer optical fibers: From the processing-property relationship to pressure sensing applications

Fabien Sorin, Khushdeep Sharma, René M. Rossi

Polydimethylsiloxane (PDMS) based soft polymer optical fibers (POFs) have recently demonstrated their intriguing potential for different sensing applications like strain or temperature sensing. Recent studies have elaborated on the sensing capability of PD ...

2023

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Stéphanie Lacour, Ivan Furfaro, Emilio Fernández Lavado, Haotian Chen

Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...

2023

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Bio-inspired robotics

Robot Learning using Tensor Networks

Online Multicontact Receding Horizon Planning via Value Function Approximation

VolRecon: Volume Rendering of Signed Ray Distance Functions for Generalizable Multi-View Reconstruction

Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming

The science of soft robot design: A review of motivations, methods and enabling technologies

Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Polydimethylsiloxane based soft polymer optical fibers: From the processing-property relationship to pressure sensing applications

SOFT BIDIRECTIONAL BENDING ACTUATOR BASED ON MAGNETORHOGICAL FLUIDS

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

Graph Chatbot

Chat with Graph Search

VolRecon: Volume Rendering of Signed Ray Distance Functions for Generalizable Multi-View Reconstruction

Robot Learning using Tensor Networks

Online Multicontact Receding Horizon Planning via Value Function Approximation

Polydimethylsiloxane based soft polymer optical fibers: From the processing-property relationship to pressure sensing applications

Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness

The science of soft robot design: A review of motivations, methods and enabling technologies

Control and Morphology Optimization of Passive Asymmetric Structures for Robotic Swimming

Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

SOFT BIDIRECTIONAL BENDING ACTUATOR BASED ON MAGNETORHOGICAL FLUIDS