Towards Peak Torque Minimization for Modular Self-folding Robots

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High energy-density electrostatic actuators for soft robotics

Sylvain Thomas Schaller

This thesis reports high energy-density electrostatic actuators for use in soft robotics. This thesis has two main parts: a) a detailed study of electro-adhesion using microfabricated electrodes, and b) a flexi-ble fiber-shaped linear motor. Electro-adhesi ...

EPFL2024

Frequency response of fiber reinforced DEAs

Yves Perriard, Yoan René Cyrille Civet, Thomas Guillaume Martinez, Stefania Maria Aliki Konstantinidi, Markus Koenigsdorff

Dielectric Elastomer Actuators (DEAs) have emerged as versatile and promising devices for a multitude of applications, including soft robotics, haptic interfaces, and artificial muscles. DEAs are an interesting soft actuator technology due to their high en ...

Society of Photo-Optical Instrumentation Engineers (SPIE)2024

Geometric Learning: Leveraging differential geometry for learning and control

Bernardo Fichera

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

EPFL2024

Targeted worker removal reveals a lack of flexibility in brood transport specialisation with no compensatory gain in efficiency

Mahmut Selman Sakar, Laurent Keller, Fazil Emre Uslu

Division of labour is widely thought to increase the task efficiency of eusocial insects. Workers can switch their task to compensate for sudden changes in demand, providing flexible task allocation. In combination with automated tracking technology, we de ...

Nature Research2024

Morphological flexibility in robotic systems through physical polygon meshing

Jamie Paik, Kevin Andrew Holdcroft, Christoph Heinrich Belke, Alexander Thomas Sigrist

Shape-changing robots adapt their own morphology to address a wider range of functions or environments than is possible with a fixed or rigid structure. Akin to biological organisms, the ability to alter shape or configuration emerges from the underlying m ...

Nature Portfolio2023

Learning and optimization of anticipatory feedback controllers for robot manipulation

Hakan Girgin

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

EPFL2023

Multi-Robot 3D Gas Distribution Mapping: Coordination, Information Sharing and Environmental Knowledge

Alcherio Martinoli, Chiara Ercolani, Thomas Laurent Peeters

Environmental monitoring and mapping operations are an essential tool to combat climate change. An important branch of this domain concerns the construction of reliable gas maps. Adaptive navigation strategies coupled with multi-robot systems improve the o ...

2023

A robotic honeycomb for interaction with a honeybee colony

Francesco Mondada, Robert Matthew Mills, Rafael Botner Barmak

Robotic technologies have shown the capability to interact with living organisms and even to form integrated mixed societies composed of living and artificial agents. Biocompatible robots, incorporating sensing and actuation capable of generating and respo ...

2023

Self-Correcting Quadratic Programming-Based Robot Control

Aude Billard, Farshad Khadivar, Konstantinos Chatzilygeroudis

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

2023

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Hala Khodr

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

EPFL2023

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Targeted worker removal reveals a lack of flexibility in brood transport specialisation with no compensatory gain in efficiency

Mahmut Selman Sakar, Laurent Keller, Fazil Emre Uslu

Nature Research2024