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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

Inferring individual evaluation criteria for reaching trajectories with obstacle avoidance from EEG signals

Aude Billard, José del Rocio Millán Ruiz, Fumiaki Iwane

During reaching actions, the human central nerve system (CNS) generates the trajectories that optimize effort and time. When there is an obstacle in the path, we make sure that our arm passes the obstacle with a sufficient margin. This comfort margin varie ...

Nature Portfolio2023

Semiconductor-based device architectures in multimaterial fibers

William Nicolas Duncan Esposito

Semiconductor materials have given rise to today's digital technology and consumer electronics. Widespread adoption is closely linked to the ability to process and integrate them in devices at scale. Where flexibility and large surfaces are required, such ...

EPFL2023

Effect of wettability and textile architecture on fluid displacement and pore formation during infiltration of carbon fibrous preforms

Véronique Michaud, Baris Çaglar, Helena Luisa Teixido Pedarros

We seek to address how air entrapment mechanisms during infiltration are influenced by the wetting characteristics of the fluid and the pore network formed by the reinforcement. To this end, we evaluated the behavior of two model fluids with different surf ...

Elsevier Sci Ltd2023

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process

Josephine Anna Eleanor Hughes, Kai Christian Junge, Antonia Georgopoulou Papadonikolaki

When developing or designing biomimetic robotic fingers with rigid and soft components and integrated sensors, fabrication is often a bottle-neck when assembling and casting processing techniques are used. This study introduces a thermoplastic multi-materi ...

IEEE2023

Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

Barbara Bruno, Romain Maure

Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...

IEEE2023

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Josephine Anna Eleanor Hughes, Max Mirko Polzin, Frank Centamori

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

2023

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

Utku Norman

There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

EPFL2023

A model for the consolidation of hybrid textiles considering air entrapment, dissolution and diffusion

Véronique Michaud, Vincent Werlen, Christian Rytka

A new model is proposed for the consolidation of hybrid textiles, in which air entrapment and dissolution are considered. One of the key parameters is tow permeability, which is described by the analytical model of Gebart and validated at very high fibre v ...

ELSEVIER SCI LTD2023

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Effect of wettability and textile architecture on fluid displacement and pore formation during infiltration of carbon fibrous preforms

Véronique Michaud, Baris Çaglar, Helena Luisa Teixido Pedarros

Elsevier Sci Ltd2023

A multi-material robotic finger with integrated proprioceptive and tactile capabilities produced with a circular process

Josephine Anna Eleanor Hughes, Kai Christian Junge, Antonia Georgopoulou Papadonikolaki

IEEE2023

Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

Barbara Bruno, Romain Maure

IEEE2023