Concept
Locomotion robotique
Publications associées (653)
Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles
This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...
EPFL2024Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots
Alcherio Martinoli, Wanting Jin
Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurement ...
2024Quantifying the biomimicry gap in biohybrid robot-fish pairs
Francesco Mondada, Vaios Papaspyros
Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulatio ...
2024Passive Obstacle Aware Control to Follow Desired Velocity
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains complia ...
2024Online Multicontact Receding Horizon Planning via Value Function Approximation
Sylvain Calinon, Teguh Santoso Lembono
Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...
Ieee-Inst Electrical Electronics Engineers Inc2024Robot Learning using Tensor Networks
In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...
EPFL2024Hitting with Different Joints of a Robotic Manipulator
This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...
2024Investigating neural resource allocation in the sensorimotor control of extra limbs
The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...
EPFL2024Multi-Robot 3D Gas Distribution Mapping: Coordination, Information Sharing and Environmental Knowledge
Alcherio Martinoli, Chiara Ercolani, Thomas Laurent Peeters
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 ...
2023Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion
Locomotion is an essential evolutive innovation of living beings that allows them to colonize and dominate the planet. As diverse as animal morphologies are (living) and were (extinct), their locomotion modalities are also diverse. In particular, animal mo ...
EPFL2023