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Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...
Most current drones are designed with a static morphology aimed at exploiting a single locomotion mode. This results in limited versatility and adaptability to multi-domain environments, such as those encountered in rescue missions, agriculture and inspect ...
This paper contributes a novel framework to efficiently learn cost-to-go function representations for robotic tasks with latent modes. The proposed approach relies on the principle behind ensemble methods, where improved performance is obtained by aggregat ...
A swarm of randomly moving miniature robots is an effective solution for the exploration of unknown terrains. However, the deployment of a swarm of miniature robots poses two challenges: finding an adequate locomotion strategy for fast exploration and obst ...
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 ...
The technology of fiber positioning robots has been evolving in the recent years and currently lacks of a comprehensive view. This thesis aims at filling this gap. Fiber positioning robots are analyzed under different aspects: a theoretical framework, desi ...
Currently available foot interfaces to command an external assistive robotic arm for laparoscopic surgery typically consist of a couple of push buttons placed on a planar platform. In this paper, we develop and compare two foot interfaces implementing isot ...
Autonomous vehicles rely on an accurate perception module. One of the fundamental challenges is to efficiently track pedestrians surrounding a vehicle to anticipate risky situations. Over the past decades, researchers have formulated the tracking problem a ...
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 ...
Human ability to foresee the near future plays a key role in everyone's life to prevent potentially dangerous situations. To be able to make predictions is crucial when people have to interact with the surrounding environment. Modeling such capability can ...
