Concept

Bio-inspired robotics

Publications associées (467)

Learning the Stiffness of a Continuous Soft Manipulator from Multiple Demonstrations

Continuous soft robots are becoming more and more widespread in applications, due to their increased safety and flexibility in critical applications. The possibility of having soft robots that are able to change their stiffness in selected parts can help i ...

Springer2015

Variable Stiffness Actuator for Soft Robotics Using Dielectric Elastomer and Low-Melting-Point Alloy

Dario Floreano, Herbert Shea, Samuel Rosset, Jun Shintake, Bryan Edward Schubert

A novel variable stiffness actuator composed of a dielectric elastomer actuator (DEA) and a low-melting-point-alloy (LMPA) embedded silicone substrate is demonstrated. The device which we call variable stiffness dielectric elastomer actuator (VSDEA) enable ...

IEEE2015

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat, Robin Thandiackal, Konstantinos Karakasiliotis, Laura Deanne Fleury

Search and rescue (SAR) missions are being carried out by several types of robots. They include ground, marine and air vehicles depending on the terrain and mission to be tackled. A particular niche for SAR activities are shallow waters. They present high ...

IEEE2015

Motor-Primed Visual Attention for Humanoid Robots

Aude Billard, Luka Lukic, José Santos-Victor

We present a novel, biologically inspired, approach to an efficient allocation of visual resources for humanoid robots in a form of a motor-primed visual attentional landscape. The attentional landscape is a more general, dynamic and a more complex concept ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control

Auke Ijspeert, Nicolas Benoît Dominique Van der Noot, Luca Colasanto

The human foot plays a key role in human walking providing, among others, body support and propulsion, stability of the movement and impact absorption. These fundamental functionalities are accomplished by an extraordinarily rich bio-mechanical design. Non ...

IEEE2015

On-Board Human-Aware Navigation for Indoor Resource-Constrained Robots: A Case-Study with the Ranger

Alcherio Martinoli, Zeynab Talebpour, Inaki Navarro Oiza

Introducing simple robotic platforms into domes- tic environments is faced with the challenge of social accept- ability. Therefore human-aware navigation is a must for robots operating in environments shared with human users. In this work, we focus on the ...

2015

Construction par procédé additif réalisée avec des robots mobiles autonomes hétérogènes

Philippe Rétornaz

This thesis lies at the crossroad of three research fields: heterogenous mobile collective robotics, autonomous construction with mobile robots and 3D printing. The main goal of this work is to implement and study an innovative way to interact and modify t ...

EPFL2015

Challenges in the Locomotion of Self-Reconfigurable Modular Robots

Massimo Vespignani

Self-Reconfigurable Modular Robots (SRMRs) are assemblies of autonomous robotic units, referred to as modules, joined together using active connection mechanisms. By changing the connectivity of these modules, SRMRs are able to deliberately change their ow ...

EPFL2015

Adaptive Morphology for Multi-Modal Locomotion

Ludovic Daler

There is a growing interest in using robots in dangerous environments, such as for exploration, search-and-rescue or monitoring applications, in order to reduce the risks for workers or rescuers and to improve their efficiency. Typically, flying robots off ...

EPFL2015

Role of Compliance on the Locomotion of a Reconfigurable Modular Snake Robot

Auke Ijspeert, Kamilo Andres Melo Becerra, Massimo Vespignani, Stéphane Bonardi

This paper presents the results of a study on the effect of in-series compliance on the locomotion of a simulated 8-DoF Lola-OP Modular Snake Robot with added compliant elements. We explore whether there is an optimal stiffness for gait, terrain type, or s ...

2015

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