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Detection of Slippery Terrain with a Heterogeneous Team of Legged Robots

Publications associées (132)

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Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Lukas Huber

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

Passive Obstacle Aware Control to Follow Desired Velocity

Aude Billard, Lukas Huber

Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains complia ...

2024

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

2023

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Josephine Anna Eleanor Hughes, Max Mirko Polzin, Frank Centamori

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

2023

Tether Climbing Robot for Environmental Sampling and Data Collection

Josephine Anna Eleanor Hughes, Kai Christian Junge, Max Mirko Polzin, Qinghua Guan, Nicolas Mathis Minder

Developing robots that can explore environments without disturbing the natural flora and fauna could allow a safe exploration for both the robot and its surroundings. However, this can involve exploring complex or challenging environments, for example extr ...

2022

Soft actuator is the main technology that drives the development of soft robotics as it defines the capabilities of soft machines. One of the key challenges in soft actuator research is to simultaneously produce complex morphing (e.g., surface morphing) an ...

WILEY2022

Underwater soft robots are challenging to model and control because of their high degrees of freedom and their intricate coupling with water. In this letter, we present a method that leverages the recent development in differentiable simulation coupled wit ...

Institute of Electrical and Electronics Engineers Inc.2021

An untethered mechanically-intelligent inchworm robot powered by a shape memory alloy oscillator

Yves Perriard, Paolo Germano, Thomas Guillaume Martinez, Sean Thomas

Shape Memory Alloy (SMA) based actuators have become ideal candidates for use in compact and lightweight applications. These smart materials have often been referred to as artificial muscles due to their high work volume density. In this paper, a flexure-b ...

2021

A Position-Control-Based Framework for Dynamic and Robust Quadrupedal Trotting

Zeya Yin, Boxing Wang, Song Liu, Haoyu Zhang

With the emergence of more and more torque-controlled robots, the agility of leg locomotion has been promoted to a new level, which, however, seems also to imply that only torque-controlled robots are appropriate for leg locomotion. This paper demonstrates ...

IEEE2021