Publications associées à Locomotion robotique

Blind as a Bat: Audible Echolocation on Small Robots

Martin Vetterli, Mihailo Kolundzija, Adrien Guillaume Olivier Hoffet, Adam James Scholefield, Frederike Dümbgen

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers, the audio modality ...

2022

Tether Climbing Robot for Environmental Sampling and Data Collection

Josephine Anna Eleanor Hughes, Kai Christian Junge, Max Mirko Polzin, Qinghua Guan, Nicolas Mathis Minder

Developing robots that can explore environments without disturbing the natural flora and fauna could allow a safe exploration for both the robot and its surroundings. However, this can involve exploring complex or challenging environments, for example extr ...

2022

CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion

Auke Ijspeert, Guillaume Denis Antoine Bellegarda

In this letter, we present a method for integrating central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework to produce robust and omnidirectional quadruped locomotion. The agent learns to ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Dario Floreano, Nicola Nosengo

Stories from the future of intelligent machines—from rescue drones to robot spouses—and accounts of cutting-edge research that could make it all possible. Tech prognosticators promised us robots—autonomous humanoids that could carry out any number of tasks ...

MIT Press2022

Controlling 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 ...

2022

Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

Auke Ijspeert, Shura Suzuki

Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body-limb coordination. This study aims to understand the sensorimotor control und ...

FRONTIERS MEDIA SA2021

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

Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter

Alcherio Martinoli, Alicja Barbara Roelofsen, Michiaki Hirayama

This paper presents a thorough experimental evaluation of an extended Gaussian Mixture Probability Hypothesis Density filter which is able to provide state estimates for the maintenance of a multirobot formation, even when the communication fails and the t ...

Springer Nature2021

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Locomotion robotique

Blind as a Bat: Audible Echolocation on Small Robots

Tether Climbing Robot for Environmental Sampling and Data Collection

CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion

Model Predictive Control of Aerial Swarms

Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation

Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

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

Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter

Multi-robot task allocation for safe planning against stochastic hazard dynamics

Graph Chatbot

Chattez avec Graph Search

Blind as a Bat: Audible Echolocation on Small Robots

CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion

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

Model Predictive Control of Aerial Swarms

Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation

Tether Climbing Robot for Environmental Sampling and Data Collection

Tales from a Robotic World. How Intelligent Machines Will Shape Our Future

Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter

Multi-robot task allocation for safe planning against stochastic hazard dynamics