Publication

TRIPILLAR: Miniature magnetic caterpillar climbing robot with plane transition ability

Related publications (81)

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approa ...

New York2023

Bimanual dynamic grabbing and tossing of objects onto a moving target

Aude Billard, Michael Bosongo Bombile

Bimanual grabbing and tossing of packages onto trays or conveyor belts remains a human activity in the industry. For robots, such a dynamic task requires coordination between two arms and fast adaptation abilities when the tossing target is moving and subj ...

2023

3PAC: A Plug-and-Play System for Distributed Power Sharing and Communication in Modular Robots

Jamie Paik, Kevin Andrew Holdcroft, Christoph Heinrich Belke

In modular robotics, there is classically a compromise between coupling complexity and functionality. The mechanical and electrical designs are linked, such that adding electrical features often requires redesigning the mechanical components. However, incr ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Jamie Paik, Frédéric Henri Vaskin Giraud, Hongying Zhang, Yongkang Jiang

In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipe-climbing robots, which are important for automatically conducting periodi ...

2020

Piezoelectric Grippers for Mobile Micromanipulation

Tristan Abondance, Kaushik Jayaram

The ability to efficiently and precisely manipulate objects in inaccessible environments is becoming an essential requirement for many applications of mobile robots, particularly at small sizes. Here, we propose and implement a mobile micromanipulation sol ...

2020

Learning from demonstration with model-based Gaussian process

Sylvain Calinon, David Ginsbourger, Noémie Laure Gwendoline Jaquier

In learning from demonstrations, it is often desirable to adapt the behavior of the robot in function of the variability retrieved from human demonstrations and the (un)certainty encoded in different parts of the task. In this paper, we propose a novel mul ...

2019

RoboScallop: A Bivalve Inspired Swimming Robot

Jamie Paik, Matthew Aaron Robertson

Underwater swimming robots permit remote access to over 70% of the Earth's surface that is covered in water for a variety of scientific, environmental, tactical, or industrial purposes. Many practical applications for robots in this setting include sensing ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2019

This project is carried out under the partnership between LMTS and LAI to develop an autonomous micro-robot called DE-Ansect. This low power micro-robot moves thanks to dielectric elastomere actuators. For now the robot follows a black line on the ground. ...

2019

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 ...

EPFL2018

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

Tomislav Horvat

Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...

EPFL2018

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