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Multi-physics model of an electric fish-like robot: numerical aspects and application to obstacle avoidance

Related publications (35)

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Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Lukas Huber

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

You Tell, I Do, and We Swap until we Connect All the Gold Mines!

Pierre Dillenbourg, Barbara Bruno, Jauwairia Nasir, Utku Norman

The Project JUSThink has a double goal: (i), to help train the Computational Thinking skills of children with a collaborative, robot-mediated activity, (ii), to acquire insights about how children detect and solve misunderstandings, and what keeps them eng ...

2020

Robotics is a key technology to improve and support the medical services by increasing efficiency and improving quality of care. One particular challenge is medical palpation, where a physicians uses their hands to manually feel and identify abnormalities ...

Institute of Electrical and Electronics Engineers Inc.2020

Bio-Inspired Tensegrity Fish Robot

Dario Floreano, Jun Shintake, Davide Zappetti, Timothée John Martin Peter, Yusuke Ikemoto

This paper presents a method to create fish-like robots with tensegrity systems and describes a prototype modeled on the body shape of the rainbow trout with a length of 400 mm and a mass of 102 g that is driven by a waterproof servomotor. The structure of ...

2020

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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

Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a convolutional n ...

2018

Joining high-level symbolic planning with low-level motion primitives in adaptive HRI: application to dressing assistance

Sylvain Calinon, Emmanuel Pignat

For a safe and successful daily living assistance, far from the highly controlled environment of a factory, robots should be able to adapt to ever-changing situations. Programming such a robot is a tedious process that requires expert knowledge. An alterna ...

2018

Joining high-level symbolic planning with low-level motion primitives in adaptive HRI: application to dressing assistance

Sylvain Calinon, Emmanuel Pignat

Idiap2018

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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In this paper, we explored the effect of a robot’s subconscious gestures made during moments when idle (also called adaptor gestures) on anthropomorphic perceptions of five year old children. We developed and sorted a set of adaptor motions based on their ...

2017