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Feedback MPC for Torque-Controlled Legged Robots

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An untethered mechanically-intelligent inchworm robot powered by a shape memory alloy oscillator

Yves Perriard, Paolo Germano, Thomas Guillaume Martinez, Sean Thomas

Shape Memory Alloy (SMA) based actuators have become ideal candidates for use in compact and lightweight applications. These smart materials have often been referred to as artificial muscles due to their high work volume density. In this paper, a flexure-b ...

2021

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Aude Billard, Diego Felipe Paez Granados, Pericle Salvini

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

From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems

Nadia Barbara Figueroa Fernandez

Humans have a remarkable way of learning, adapting and mastering new manipulation tasks. With the current advances in Machine Learning (ML), the promise of having robots with such capabilities seems to be on the cusp of reality. Transferring human-level sk ...

EPFL2019

The high agility of legged systems allows them to operate in rugged outdoor environments. In these situations, knowledge about the terrain geometry is key for foothold planning to enable safe locomotion. However, on penetrable or highly compliant terrain ( ...

2019

Perception, control and planning for (self-)reconfigurable modular robots

Mehmet Hasan Mutlu

Modular robots (MRs) consist of similar modules that can be configured into different shapes. MRs introduce a number of benefits over conventional robots specifically designed for a task. Self-reconfigurable modular robots (SRMRs) are a sub-category of MRs ...

EPFL2019

Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots

Laura Isabel Paez Coy, Marco Hutter, Klajd Lika

Adapting to the ground enables stable footholds in legged locomotion by exploiting the structure of the terrain. On that account, we present a passive adaptive planar foot with three rotational degrees of freedom that is lightweight and thus suited for hig ...

2019

Real-Time Dance Generation to Music for a Legged Robot

Marco Hutter

The development of robots that can dance has received considerable attention. However, they are often either limited to a pre-defined set of movements and music or demonstrate little variance when reacting to external stimuli, such as microphone or camera ...

2019

Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on th ...

2019

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Insects are a constant source of inspiration for roboticists. Their compliant bodies allow them to squeeze through small openings and be highly resilient to impacts. However, making sub-gram autonomous soft robots, untethered and capable of responding inte ...

2019

An autonomous untethered fast soft robotic insect driven by low-voltage dielectric elastomer actuators

Yves Perriard, Herbert Shea, Yoan René Cyrille Civet, Xinru Ji

Insects are a constant source of inspiration for roboticists. Their compliant bodies allow them to squeeze through small openings and be highly resilient to impacts. However, making subgram autonomous soft robots untethered and capable of responding intell ...

2019