Concept

Bio-inspired robotics

Publications associées (467)

TRIPILLAR: Miniature magnetic caterpillar climbing robot with plane transition ability

Francesco Mondada, Roland Moser, Frédéric Rochat, Patrick Schoeneich, Olivier Truong-Dat Nguyen

We present a miniature magnetic climbing robot with dimensions 96 x 46 x 64mm(3). With two degrees of freedom it is able to climb ferromagnetic surfaces and to make inner plane to plane transitions whatever their inclination is. This robot, named TRIPILLAR ...

Cambridge University Press2011

High Compliant Series Elastic Actuation for the Robotic Leg ScarlETH

Roland Siegwart, Marco Hutter

This paper presents the actuation system of the robotic leg ScarlETH. It was developed specifically for a quadrupedal robot and is designed to achieve fast position control as well as accurate joint torque control. It introduces strong passive dynamics to ...

2011

Variable impedance actuation to increase the behavioural diversity of legged robots

Nitesh Maheshwari

A single leg hopping robot has been constructed which includes a clutch in series with the hip motor and a prototype Linear Multi-Modal Actuator (LMMA) at the knee. The single leg will be used to test how the different actuation methods can improve the beh ...

2011

Multi-level Spatial Modeling for Stochastic Distributed Robotic Systems

Alcherio Martinoli, Nicolaus Correll, Amanda Stella Markowska Prorok

We propose a combined spatial and non-spatial probabilistic modeling methodology motivated by an inspection task performed by a group of miniature robots. Our models explicitly consider spatiality and yield accurate predictions on system performance. An ag ...

2011

Miniature Magnetic Climbing Inspection Robots

Frédéric Rochat

Industrial plants have an abundance of complex and confined areas that require systematic inspection. Maintenance work is necessary to ensure reliability and safety. In many cases, due to either size limitations or high danger, access is impossible to huma ...

EPFL2011

Two-Phase Online Calibration for Infrared-based Inter-Robot Positioning Modules

Alcherio Martinoli, Amanda Stella Markowska Prorok, Sven Adrian Gowal

Multi-robot systems can solve complex tasks that require the coordination of the team-member positions with respect to each other.While the development of ad-hoc relative positioning platforms embedding cheap off-the-shelf components is a practical choice, ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Bio-inspired swarming for dynamic radio access based on diffusion adaptation

Ali H. Sayed

The goal of this paper is to study the learning abilities of adaptive networks in the context of cognitive radio networks and to investigate how well they assist in allocating power and communications resources in the frequency domain. The allocation mecha ...

2011

Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain

Auke Ijspeert, Alexander Spröwitz, Mostafa Ajallooeian, Rico Möckel, Alexandre Tuleu

: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...

2011

Soft Robotics: Challenges and Perspectives

There has been an increasing interest in the use of unconventional materials and morphologies in robotic systems because the underlying mechanical properties (such as body shapes, elasticity, viscosity, softness, density and stickiness) are crucial researc ...

Elsevier Science, Reg Sales Off, Customer Support Dept, 655 Ave Of The Americas, New York, Ny 10010 Usa2011

A MATLAB Framework for Efficient Gait Creation

Roland Siegwart

This work introduces a framework for the creation and analysis of efficient gaits for legged systems based on the exploitation of natural dynamics. It summarizes the theory behind hybrid dynamic modeling, the identification of optimal periodic motions with ...

2011

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