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Mechanical Stability Margin for Scouting Poses in Modular Snake Robots

Publications associées (212)

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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

Learning to Hit: A statistical Dynamical System based approach

Aude Billard, Michael Bosongo Bombile, Harshit Khurana

This paper proposes a manipulation scheme based on learning the motion of objects after being hit by a robotic end-effector. This allows for the object to be positioned at a desired location outside the physical workspace of the robot. An estimate of the o ...

IEEE2021

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

Learning Constrained Distributions of Robot Configurations with Generative Adversarial Network

Sylvain Calinon, Julius Maximilian Jankowski, Emmanuel Pignat, Teguh Santoso Lembono

In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose a generative adversarial network approach to learn th ...

IEEE2021

Multi-robot task allocation for safe planning against stochastic hazard dynamics

Maryam Kamgarpour, Orcun Karaca

This paper considers the problem of multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi- ...

2021

Currently, the Swiss timber industry in mountain areas largely exports unprocessed lumber and imports finished timber products due to the lack of digital tools. By using new digital design-to-production workflows, it is possible to investigate new building ...

EPFL2021

A model-free iterative learning control strategy (ILC) in nonrepetitive trajectories, applied to robotic manipulators is presented in this article. The development of this ILC controller is derived in general case for second-order nonlinear multi-input mul ...

2021

Bio-Inspired Tensegrity Fish Robot

Dario Floreano, Jun Shintake, Davide Zappetti, Timothée John Martin Peter, Yusuke Ikemoto

This paper presents a method to create fish-like robots with tensegrity systems and describes a prototype modeled on the body shape of the rainbow trout with a length of 400 mm and a mass of 102 g that is driven by a waterproof servomotor. The structure of ...

2020

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In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipe-climbing robots, which are important for automatically conducting periodi ...

2020

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Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...

IOP PUBLISHING LTD2020