Concept

Underactuation

Publications associées (10)

Haptigami: a fingertip haptic interface with vibrotactile and 3-DoF cutaneous force feedback

Jamie Paik, Sagar Dattatray Joshi, Frédéric Henri Vaskin Giraud

Wearable fingertip haptic devices aim to deliver somatosensory feedback for applications such as virtual reality, rehabilitation, and enhancing hardware/physical control interfaces. However, providing various kinds of feedback requires several Degrees of F ...

2021

Shape programmable multi-stable polymer actuators

Bekir Aksoy

Recent advances in soft actuators have enabled systems that are safer to interact with, better at handling fragile objects, able to produce complex shapes with fewer components. However, being inherently soft differs these actuators from their rigid counte ...

EPFL2021

Frequency-Aware Model Predictive Control

Marco Hutter, Farbod Farshidian

Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on th ...

2019

Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints

Marco Hutter

We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel linear formulation of the zeromoment p ...

2019

Minimalist Design of a 3-Axis Passive Compliant Foot for Sprawling Posture Robots

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat

A sprawled posture amphibious biorobot resembling a salamander had helped us in conquering scientific questions of the locomotion of these animals and offer us with technological possibilities for applications in disaster response. However, so far the foot ...

IEEE2019

A Brief Survey on the Role of Dimensionality Reduction in Manipulation Learning and Control

Sylvain Calinon

Bio-inspired designs are motivated by efficiency, adaptability and robustness of biological systems dynamic behaviors in complex environment. Despite progress in design, the lack of sensory-motor and learning capabilities is the main drawback of human-like ...

2018

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

Jamie Paik, Amir Firouzeh, Marco Salerno

Underactuated systems offer compact design with easy actuation and control but at the cost of limited stable con- figurations and reduced dexterity compared to the directly driven and fully actuated systems. Here, we propose a compact origamibased design i ...

2017

Spinal joint compliance and actuation in a simulated bounding quadruped robot

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Mohammad Khodabakhsh

Spine movements play an important role in quadrupedal locomotion, yet their potential benefits in locomotion of quadruped robots have not been systematically explored. In this work, we investigate the role of spinal joint actuation and compliance on the bo ...

Springer2017

From cineradiography to biorobots: an approach for designing robots to emulate and study animal locomotion

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat, Robin Thandiackal, Konstantinos Karakasiliotis, Navid Khajeh Mahabadi, Stanislav Yuri Tsitkov

Robots are increasingly used as scientific tools to investigate animal locomotion. However, designing a robot that properly emulates the kinematic and dynamic properties of an animal is difficult because of the complexity of musculoskeletal systems and the ...

Royal Soc2016

Towards a new Delta robot: an inverted Delta

In the way of developing fast parallel robots, the following work proposes a development of a new delta robot. This robot is a 3 d.o.f. parallel robot based on a Delta-like kinematics [Clavel 88, 92]. It is actually an inverted Delta in which the parallel ...

2004

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