Concept

Bio-inspired robotics

Publications associées (467)

Localization of inexpensive robots with low-bandwidth sensors

Francesco Mondada, Stéphane Magnenat, Ming Liu, Shiling Wang

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 ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

An autonomous untethered soft robotic insect

Yves Perriard, Herbert Shea, Yoan René Cyrille Civet, Xinru Ji

Insects are a constant source of inspiration for roboticists. Their compliant bodies allow them to squeeze through small openings and be highly resilient to impacts. However, making sub-gram autonomous soft robots, untethered and capable of responding inte ...

2019

Model-free soft-structure reconstruction for proprioception using tactile arrays

Josephine Anna Eleanor Hughes

Continuum body structures provide unique opportunities for soft robotics, with the infinite degrees of freedom enabling unconstrained and highly adaptive exploration and manipulation. However, the infinite degrees of freedom of continuum bodies makes sensi ...

Institute of Electrical and Electronics Engineers Inc.2019

Stretchable pumps for soft machines

Dario Floreano, Herbert Shea, Jun Shintake, Vito Cacucciolo, Yu Kuwajima

Machines made of soft materials bridge life sciences and engineering. Advances in soft materials have led to skin-like sensors and muscle-like actuators for soft robots and wearable devices. Flexible or stretchable counterparts of most key mechatronic comp ...

2019

Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces

Jamie Paik, Metin Sitti, Sukho Song

This paper aims at understanding the adhesion mechanics of a pressure-controlled adhesive thin elastomeric membrane for soft robotic gripping on non-planar, curved surfaces. The adhesive elastic membrane is lined with gecko-inspired microfiber arrays and c ...

2019

Keep Rollin’—Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

Marco Hutter

We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach r ...

2019

Low voltage fast dielectric elastomer actuators

Xiaobin Ji

This thesis contributes to the field of Dielectric Elastomer Actuators (DEAs). DEAs are electrostatically driven soft actuators that are fast, capable of generating large actuation strains, high forces, and present high power density. A wide range of appli ...

EPFL2019

Bi-Modal Control of Vacuum-Powered Soft Pneumatic Actuators with Embedded Liquid Metal-Based Strain Sensitive Skin

Stéphanie Lacour, Jamie Paik, Matthew Aaron Robertson, Laurent Mirko Dejace

Soft robotic systems are composed of active and passively deformable structures which are intrinsically compliant, flexible, and elastic. Although these features offer benefits of adaptability, robustness, and safety, controlling these types of robots is a ...

IEEE2019

Fully Fdm 3D Printed Flexible Capacitive And Resistive Transducers

Danick Briand, Ryan Mitchell van Dommelen, Xavier Aeby

This work shows the feasibility of fully Fused-Deposition-Modeling (FDM) printed capacitive and resistive transducers, processed in a single tool. It enables their cost-effective processing and provides a simple approach for sensors manufacturing in 3D pri ...

IEEE2019

Triboelectric‐TFT Flip‐Flop for Bistable Latching of Dielectric Elastomer Actuators

Danick Briand, Herbert Shea, Rubaiyet Iftekharul Haque, Alexis Pierre Henri Marette, Xiaobin Ji, Ronan Julien Hinchet

A high‐voltage flip‐flop combining two self‐powered soft sensors with a flexible high‐voltage thin film transistor (HVTFT) is reported, and is used to electrically latch dielectric elastomer actuators (DEAs) in zero and high‐strain states. Two touch‐actuat ...

2019

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