Design and control of amphibious robots with multiple degrees of freedom
Graph Chatbot
Chat with Graph Search
Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.
DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.
Today, the use of brushless DC motors (BDCM) in robotic applications is only at its beginning in spite of their remarkable features. This is due to the increased complexity of the control with respect to the conventional DC motors, but also to the parasiti ...
Bio-inspired climbing robots relying on adhesion systems are believed to become essential tools for several industrial applications in the near future. In recent years, research has mainly focused on modeling micro-scale adhesion phenomena; a macro-scale a ...
Recent progress in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL1 systems represent a useful class of flying robots because of their strong capabilities for small- ...
A climbing robot using magnetic caterpillars is developed and constructed. It allows to move on ferromagnetic materials in any orientation, and to make inner plan transition. The achieved friction force is very high. ...
This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control architecture is based on a central pattern generator (CPG) model inspired from the n ...
This paper presents a few examples of manipulators and micro-robots based on piezo-actuators developed during the last 4 years in the Laboratoire de Systèmes Robotiques (LSRO) at EPFL. Three working principles will be described (bender, inch-worm, inertial ...
In the fields of semiconductors, opto-electronic interconnection and microsystems in general, the demand for precise positionning has grown along with the increasing miniaturization of the structures which are to be handled or tested. In many cases an inap ...
This paper presents a novel concept of semi-autonomous navigation where a mobile robot evolves autonomously under the monitoring of a human user. The user provides corrective commands to the robot whenever he disagrees with the robot's navigational choices ...
In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...