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Construction par procédé additif réalisée avec des robots mobiles autonomes hétérogènes

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Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

2023

Optimal Task Assignment and Collision Avoidance for Mobile Robots

This report serves as a general overview of the semester project conducted in the SYCAMORE lab during the Spring 2022 semester. It focuses on multi- agent optimal task assignment methods, which have been implemented on state of the art simulation methods u ...

2022

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The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...

2021

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

2021

3D printable sensorized soft gelatin hydrogel for multi-material soft structures

Josephine Anna Eleanor Hughes, Kieran Daniel Gilday

The ability to 3D print soft materials with integrated strain sensors enables significant flexibility for the design and fabrication of soft robots. Hydrogels provide an interesting alternative to traditional soft robot materials, allowing for more varied ...

Institute of Electrical and Electronics Engineers Inc.2021

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

Human-Human, Human-Robot and Robot-Robot Interaction While Walking: Data Analysis, Modelling and Control

Jessica Lanini

In everyday life humans perform many tasks with other partners which involve coordination, involuntary communication and mutual control adaptation, as the case of carrying objects together with another person. Humanoid robots may help with such activities ...

EPFL2019

Designing Human Assisted Wireless Sensor and Robot Networks Using Probabilistic Model Checking

Wireless sensor networks (WSNs) have a wide variety of applications in environment monitoring (such as air pollution and fire detection), industrial operations (such as machine surveillance), and precision agriculture. It is an arduous task to manage a lar ...

2019

Personalized Telerobotics by Fast Machine Learning of Body-Machine Interfaces

Dario Floreano, Fabrizio Schiano, Matteo Macchini

Human-Robot Interfaces (HRIs) can be hard to master for inexperienced users, making the teleoperation of mobile robots a difficult task. The development of Body-Machine Interfaces (BoMIs) represents a promising approach to making a user more proficient, by ...

2019

Learning Ground Traversability From Simulations

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