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Efficient and Versatile Locomotion With Highly Compliant Legs

Publications associées (32)

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Memory of Motion for Initializing Optimization in Robotics

Teguh Santoso Lembono

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

EPFL2022

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Jamie Paik, Mustafa Mete

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Development and control of interactive reconfigurable robotic systems

Jian-Lin Huang

While reconfigurable robots provide a new promising approach for interactive systems, the complexity of distributed actuation/sensing systems, coupled kinematics and desired functionalities also bring new challenges and questions both in control design and ...

EPFL2021

Design Methodology for Engineering Multifunctional Mesoscale Robots

Zhenishbek Zhakypov

In this thesis our research goal is to develop, study and demonstrate multifunctional multi-robot systems in mesoscale. Particularly, our goal is to study and demonstrate terrestrial multi-locomotion and collective behaviours with mesoscale robots, similar ...

EPFL2019

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

Perception, control and planning for (self-)reconfigurable modular robots

Mehmet Hasan Mutlu

Modular robots (MRs) consist of similar modules that can be configured into different shapes. MRs introduce a number of benefits over conventional robots specifically designed for a task. Self-reconfigurable modular robots (SRMRs) are a sub-category of MRs ...

EPFL2019

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Insects are a constant source of inspiration for roboticists. Their compliant bodies allow them to squeeze through small openings and be highly resilient to impacts. However, making sub-gram autonomous soft robots, untethered and capable of responding inte ...

2019

An Overview on Principles for Energy Efficient Robot Locomotion

Salman Faraji

Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...

FRONTIERS MEDIA SA2018

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

Tomislav Horvat

Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...

EPFL2018

Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common benchmark can be found. Further, it is unclear, what minimal leve ...

EPFL2018