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

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Embedded 3D vision system for automated micro-assembly

Heinz Hügli

Machine vision plays an important role in automated assembly. However, present vision systems are not adequate for robot control in an assembly environment where individual components have sizes in the range of 1 to 100 micrometers, since current systems d ...

2006

Microfabrique

Irène Verettas

Since 1990 in Japan and the last years in Europe, the concept of small assembly lines called Microfactories is under investigation. The main goal of this thesis is to establish a methodology for a quick setup of a miniature and modular assembly line. This ...

EPFL2006

Robots Meet Humans Interaction in Public Spaces

Roland Siegwart, Nicola Tomatis, Björn Jensen

This paper presents experiences from Robotics, a long-term project at the Swiss National Exposition Expo.02, where mobile robots served as tour guides. It includes a description of the design and implementation of the robot and addresses reliability and sa ...

2005

Precise Bearing Angle Measurement Based on Omnidirectional Conic Sensor and Defocusing

Roland Siegwart, Davide Scaramuzza

Recent studies on multi-robot localization have shown that the uncertainty of robot location may be considerably reduced by optimally fusing odometry and the relative angles of sight (bearing) among the team members. However, the latter requires the capabi ...

2005

Toward a person-follower robot

Solaiman Shokur

In this article we described the attempt to build a robot able to locate and follow an human target moving in a domestic environment. After a brief review of the state of the art in relative location technologies, we described our approach that aims to dev ...

Amedeo Cesta2005

A Windows PC based robot controller: An open architecture

Reymond Clavel, Mohamed Bouri

Robot motion controllers consist of a very important component in a robotic infrastructure. The flexibility is more and more needed to allow fastness in development and adaptation from one robot to another. The laboratory of robotic systems of the Ecole Po ...

2005

Superlinear Physical Performances in a SWARM-BOT

Dario Floreano, Francesco Mondada, André Guignard, Michael Bonani, Stéphane Magnenat, Christoph Studer

A swarm-bot is a robotic entity built of several autonomous mobile robots (called s-bots) physically connected together. This form of collective robotics exploits robot interactions both at the behavioral and physical levels. The goal of this paper is to a ...

2005

From Wheels to Wings with Evolutionary Spiking Neurons

Dario Floreano, Jean-Daniel Nicoud, Jean-Christophe Zufferey

We give an overview of the EPFL indoor flying project, whose goal is to evolve neural controllers for autonomous, adaptive, indoor micro-flyers. Indoor flight is still a challenge because it requires miniaturization, energy efficiency, and control of non-l ...

2005

Robots as Assistive Technology - Does Appearance Matter?

This paper studies the effect of a robot’s design (appearance) in facilitating and encouraging interaction of children with autism with a small humanoid robot. The paper compares the children’s level of interaction with and response to the robot in two dif ...

2004

Position Feedback for Microrobots based on Scanning Probe Microscopy

Hannes Bleuler, Jean-Marc Breguet, Walter Driesen, Ashwin Lal

A cluster of small cooperative robots capable of executing measurement and manipulation tasks is being developed within the scope of a European project. The robots are autonomous and have an overall dimension in the order of 1 cm/sup 3/. In this paper we p ...

2004