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The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly circumvented by us ...
Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body-limb coordination. Therefore, a better understanding of the mechanism underlying body-l ...
Jumping out of water is a phenomenon exhibited by a variety of aquatic and semi-aquatic animals. Yet, there is no common groundwork that clarifies the physical constraints required to jump out of water. In this study, we elucidate the physical conditions r ...
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 ...
Most policy search algorithms require thousands of training episodes to find an effective policy, which is often infeasible with a physical robot. This survey article focuses on the extreme other end of the spectrum: how can a robot adapt with only a handf ...
The task of robotic mobile manipulation poses several scientific challenges that need to be addressed to execute complex manipulation tasks in unstructured environments, in which collaboration with humans might be required. Therefore, we present ALMA, a mo ...
Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies. However, ...
Recent progress in electronics has allowed the construction of affordable mobile robots. This opens many new opportunities, in particular in the context of collective robotics. However, while several algorithms in this field require global localization, th ...
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 ...
Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots’ state and its environment. Embodied interactions, that is the bidirectional link between t ...
