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

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From human-intention recognition to compliant control using dynamical systems in physical human-robot interaction

Mahdi Khoramshahi

Human ability to coordinate one's actions with other individuals to perform a task together is fascinating. For example, we coordinate our action with others when we carry a heavy object or when we construct a piece of furniture. Capabilities such as (1) f ...

EPFL2019

Trends and challenges in robot manipulation

Aude Billard

Our ability to grab, hold, and manipulate objects involves our dexterous hands, our sense of touch, and feedback from our eyes and muscles that allows us to maintain a controlled grip. Billard and Kragic review the progress made in robotics to emulate thes ...

2019

Mobile manipulation robots have great potential for roles in support of rescuers on disaster-response missions. Robots can operate in places too dangerous for humans and therefore can assist in accomplishing hazardous tasks while their human operators work ...

2019

Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill

We present a new Autonomous Underwater Vehicle (AUV) system for cooperative environmental sensing. The AUV was specifically developed as a platform for distributed, cooperative sensing in lakes and coastal areas. In this paper we describe the prerequisite ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Heterogeneous Target Assignment to Robotic Fiber Positioner Systems

Denis Gillet, Jean-Paul Richard Kneib, Matin Macktoobian

The target assignment methods applied to robotic fiber positioners are only applicable to homogeneous sets of targets to be observed. However, different batches of robotic fiber positioners available at the focal plane of a telescope can be simultaneously ...

IEEE2019

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

Automatic extraction of constraints in manipulation tasks for autonomy and interaction

Ana-Lucia Ureche

Tasks routinely executed by humans involve sequences of actions performed with high dexterity and coordination. Fully specifying these actions such that a robot could replicate the task is often difficult. Furthermore the uncertainties introduced by the us ...

EPFL2018

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This paper addresses the trajectory tracking problem of a 2D caged flying robot in contact with a wall. To simplify the contact problem, the models are constructed on a vertical two-dimensional plane, and our objective is to let the quadrotor hover or move ...

2018

Wall-contact sliding control strategy for a 2D caged quadrotor

Dario Floreano, Przemyslaw Mariusz Kornatowski, Pu Bai

IEEE2018

Mechanical Characterization of Timber Structural Elements Using Integral Mechanical Attachments

Yves Weinand, Julien Gamerro, Ingebrigt Ambroise Valderhaug Lemaître

Automation is increasingly present in the construction industry, whether at the design, manufacturing or assembly stage. Thanks to new technologies, such as robotics, new ways of designing structural elements can be imagined and implemented. Complex method ...

IBOIS2018