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Robot motion planning involves finding a feasible path for a robot to follow while satisfying a set of constraints and optimizing an objective function. This problem is critical for enabling robots to navigate and perform tasks in realworld environments. H ...
The observation of cracks in normally functioning reinforced concrete (RC) structures is expected as the tensile strength of concrete is relatively low. However, one or more of those cracks can start to propagate with increasing crack openings, localizing ...
Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...
Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp multiple objects ...
2023
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In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...
2022
In this thesis, the aerodynamic challenges in flapping wing flight are addressed.In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated.I ...
EPFL2023
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This paper describes a novel approach to learn an implicit, differentiable distance function for arbitrary configurations of a robotic manipulator used for reactive control. By exploiting GPU processing, we efficiently query the learned collision represent ...
2022
Prism Adaptation (PA) is a useful method to study the mechanisms of sensorimotor adaptation. After-effects following adaptation to the prismatic deviation constitute the probe that adaptive mechanisms occurred, and current evidence suggests an involvement ...
Dynamic stall on airfoils negatively impacts their aerodynamic performance and can lead to structural damage. Accurate prediction and modelling of the dynamic stall loads are crucial for a more robust design of wings and blades that operate under unsteady ...
