Publications de Metin Sitti | EPFL Graph Search

Adaptive Self-Sealing Suction-Based Soft Robotic Gripper

While suction cups prevail as common gripping tools for a wide range of real-world parts and surfaces, they often fail to seal the contact interface when engaging with irregular shapes and textured surfaces. In this work, the authors propose a suction-base ...

2021

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

Jamie Paik, Sukho Song, Metin Sitti

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

Angular Motion Control Using a Closed-Loop CPG for a Water-Running Robot

Auke Ijspeert, Mahdi Khoramshahi, Metin Sitti

The Basilisk Lizard’s striking ability to sustain highly dynamic legged locomotion on a range of surfaces from hard-ground to water is a remarkable feat [1]. Most legged robots would have difficulty emulating this animal’s ability to robustly locomote on y ...

Carnegie Mellon University2013

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Auke Ijspeert, Metin Sitti

Understanding and adapting the underlying principles of biological systems to engineering systems have the promise of enabling many new mechatronic systems that can operate in unstructured and uncertain environments robustly and efficiently. This paper fir ...

Institute of Electrical and Electronics Engineers2013

A Perching Mechanism for Flying Robots Using a Fibre-Based Adhesive

Dario Floreano, Adrien Briod, Adam Klaptocz, Ludovic Daler, Metin Sitti

Robots capable of hover flight in constrained indoor environments have many applications, however their range is constrained by the high energetic cost of airborne locomotion. Perching allows flying robots to scan their environment without the need to rema ...

2013