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Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers
Related publications (51)
Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics
Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. This article introduces a novel approach called the rotational obstacle avoidance method (ROAM) fo ...
Piscataway2024Targeted worker removal reveals a lack of flexibility in brood transport specialisation with no compensatory gain in efficiency
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Division of labour is widely thought to increase the task efficiency of eusocial insects. Workers can switch their task to compensate for sudden changes in demand, providing flexible task allocation. In combination with automated tracking technology, we de ...
2024Multi-Robot 3D Gas Distribution Mapping: Coordination, Information Sharing and Environmental Knowledge
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Environmental monitoring and mapping operations are an essential tool to combat climate change. An important branch of this domain concerns the construction of reliable gas maps. Adaptive navigation strategies coupled with multi-robot systems improve the o ...
2023Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation
Josephine Anna Eleanor Hughes, Kai Christian Junge, Francesco Stella, Nana Obayashi
Biology provides many examples of where body adaption can be used to achieve a change in functionality. The feather star, an underwater crinoid which uses feather arms to locomote and feed, is one such system; it releases its arms to distract prey and vary ...
2022Soft Sensorized Physical Twin for Harvesting Raspberries
Josephine Anna Eleanor Hughes, Kai Christian Junge
The use of robotic systems for harvesting of crops is a growing application domain in the agriculture sector. A key challenge is to develop robotic systems to harvest soft fruits such as raspberries which require delicate handling as they are easily damage ...
2022Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots
Dario Floreano, Hoang Vu Phan, Yi Sun, Krishna Manaswi Digumarti, Omar Aloui
Electro-adhesive clutches have become effective tools for variable stiffness functions in many robotic systems due to their light weight, high speed and strong brake force. In this paper, we present a novel, tubular design of an electro-adhesive clutch. Ou ...
IEEE2022Lattice-and-Plate Model: Mechanics Modeling of Physical Origami Robots
Origami robots are characterized by their compact design, quasi-two-dimensional manufacturing process, and folding joint-based transmission kinematics. The physical requirements in terms of payload, range of motion, and embedding core robotic components ha ...
MARY ANN LIEBERT, INC2022A dynamical system approach for detection and reaction to human guidance in physical human-robot interaction
Aude Billard, Mahdi Khoramshahi
A seamless interaction requires two robotic behaviors: the leader role where the robot rejects the external perturbations and focuses on the autonomous execution of the task, and the follower role where the robot ignores the task and complies with human in ...
SPRINGER2020Improving robotic cooking using batch bayesian optimization
Josephine Anna Eleanor Hughes, Kai Christian Junge
With advances in the field of robotic manipulation, sensing and machine learning, robotic chefs are expected to become prevalent in our kitchens and restaurants. Robotic chefs are envisioned to replicate human skills in order to reduce the burden of the co ...
Institute of Electrical and Electronics Engineers Inc.2020Optical test procedure for characterization and calibration of robotic fiber positioners for multiobject spectrographs
Jean-Paul Richard Kneib, Mohamed Bouri, Ricardo Jorge Araùjo Pereira, Luzius Gregor Kronig, Philipp Hörler, Loïc Grossen
The recent burgeoning interest in massive multiobject spectroscopy has pushed the development of massive optical fiber positioning systems. These systems rely on precise fiber placement to detect the light spectra of many stars and galaxies. One successful ...
2020