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Lily: A Miniature Floating Robotic Platform for Programmable Stochastic Self-Assembly

Publications associées (45)

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Integrated Wireless Power, Data Communication, and Thermal Sensing System for Autonomous Multisite Brain Implants

Implanted medical devices (IMDs) have been widely developed to support the monitoring and recording of biological data inside the body or brain. Wirelessly powered IMDs, a subset of implantable electronics, have been proposed to eliminate the limitations r ...

EPFL2024

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

2023

Radiation Performance of Antennas Implanted in Small Animals for Neuroengineering

Anja Skrivervik, Stéphanie Lacour, Zvonimir Sipus, Mingxiang Gao, Kangling Wu

Wireless data communication could improve the performance and reliability of biomedical implants used in fundamental neuroscience research by removing infection-prone transcutaneous cabling. The small size of common research animals like mice and rodents, ...

IEEE2023

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Modular robots hold promise of adaptability, robustness, and versatility. Synchronization of modules is critical; if a module is asynchronous, not only will the robot fail to perform tasks properly, but its behavior may be self-destructive through self-col ...

WILEY2022

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Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

Robotics: Science and Systems (RSS)2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

MIT PRESS2019

From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems

Nadia Barbara Figueroa Fernandez

Humans have a remarkable way of learning, adapting and mastering new manipulation tasks. With the current advances in Machine Learning (ML), the promise of having robots with such capabilities seems to be on the cusp of reality. Transferring human-level sk ...

EPFL2019

Learning from demonstration with model-based Gaussian process

Sylvain Calinon, David Ginsbourger, Noémie Laure Gwendoline Jaquier

In learning from demonstrations, it is often desirable to adapt the behavior of the robot in function of the variability retrieved from human demonstrations and the (un)certainty encoded in different parts of the task. In this paper, we propose a novel mul ...

2019

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

Peter Eckert

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

Joining high-level symbolic planning with low-level motion primitives in adaptive HRI: application to dressing assistance

Sylvain Calinon, Emmanuel Pignat

For a safe and successful daily living assistance, far from the highly controlled environment of a factory, robots should be able to adapt to ever-changing situations. Programming such a robot is a tedious process that requires expert knowledge. An alterna ...

2018